1.1 cube-computer-5-control-program-8

1.1.1 Telecommands

Table 1: List of Telecommands

ID	Name	Description	Length (bytes)
General
1	Reset	Perform a soft reset - Table 2	1
2	Current Unix time	Current Unix time - Table 4	8
3	Error Log Index	Describes the index of the error log that will be read when calling GetErrorLogEntry - Table 5	5
4	Error Log Entry	Error Log Entry - Table 7	8
5	Error Log Clear	Clear the Error Log - Table 8	0
6	Error Log Settings	Error Log Settings - Table 9	1
7	Persist Config	Writes volatile config items to flash - Table 12	0
49	Commanded GNSS measurements	GNSS sensor measurements as command to the ADCS - Table 13	33
50	Augmented SGP4 configuration	Augmented SGP4 configuration - Table 14	13
51	Orbit mode	Orbit mode - Table 15	1
52	Mag Deploy Command	Deploy Magnetometer - Table 17	1
54	Reference commands for controllers	Reference commands for controllers - Table 18	36
55	OpenLoopCommandMtq	OpenLoopCommandMtq - Table 19	6
56	Power state	Power state - Table 20	20
57	ADCS run mode	ADCS run mode - Table 22	1
58	Control mode	Control mode - Table 24	3
59	Wheel configuration	Wheel configuration - Table 26	62
60	Target satellite orbit parameter configuration	Satellite orbit parameter configuration - Table 29	64
61	ADCS satellite configuration	ADCS satellite configuration - Table 30	42
62	ADCS controller configuration	ADCS controller configuration - Table 31	86
63	Mag0 magnetometer in-orbit calibration configuration	Mag0 magnetometer in-orbit calibration configuration - Table 32	24
64	Default mode configuration	Default mode configuration - Table 33	4
65	Mounting configuration	Mounting configuration - Table 35	98
66	Mag1 magnetometer in-orbit calibration configuration	Mag1 magnetometer in-orbit calibration configuration - Table 37	24
67	ADCS estimator configuration	ADCS estimator configuration - Table 38	40
68	Satellite orbit parameter configuration	Satellite orbit parameter configuration - Table 41	64
69	Node selection configuration	Node selection configuration - Table 42	8
70	Magnetorquer configuration	Magnetorquer configuration - Table 43	20
71	Estimation mode	Estimation mode - Table 44	2
72	ADCS operational state	ADCS operational state - Table 45	1
73	Simulation raw sensor telemetry	Simulation raw sensor telemetry - Table 46	277
74	OpenLoopCommandRwl	OpenLoopCommandRwl - Table 47	16
76	OpenLoopCommandHxyzRW	OpenLoopCommandHxyzRW - Table 48	12
77	Mag sensing element configuration	Mag sensing element (primary/redundant) configuration - Table 49	1
78	Data Frame	A single frame of arbitrary data - Table 51	258
79	Transfer Frame	Image frame to or from buffer - Table 52	2
80	File Transfer Setup	Setup a file transfer - Table 53	141
99	Pass Through	TCTLM Passthrough settings - Table 59	1
111	Port Map	This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect - Table 61	120
112	Unsolicited Telemetry Message Setup	Inclusion bitmask for unsolicited telemetry - Table 62	17
113	Reset Image File Info Index	Resets image file info index - Table 64	0
114	Set request image log transfer setup	Set request image log transfer setup - Table 65	6
115	Set a dummy event	Set a dummy event to be stored in the event log - Table 67	11
116	Unsolicited Event Message Setup	Setup unsolicited event messages - Table 69	2
117	Set request telemetry log transfer setup	Set request telemetry log transfer setup - Table 70	23
120	Initiate Filtered Event Log Transfer	Initiate event log transfer by specifying time range and data filter - Table 72	20
122	Format all logs	Format all logs - Table 73	1

Table 2: Reset Command Format

ID	1		Parameters Length (bytes)		1
Description	Perform a soft reset
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Reset Type	ENUM	The type of reset to perform. Possible values are in Table 3

Table 3: ResetVal Enumeration Values

Numeric Value	Name	Description
0	Do Nothing	Dummy Value
55	Soft	Performs a list of final() operations before resetting
66	Hard	Performs reset immediately

Table 4: Current Unix time Command Format

ID	2		Parameters Length (bytes)		8
Description	Current Unix time
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Current Unix seconds	UINT	Current Unix time s. (Unit of measure is [s])
	32	32	Current Unix Nanoseconds	UINT	Current Unix time ns. (Unit of measure is [ns])

Table 5: Error Log Index Command Format

ID	3		Parameters Length (bytes)		5
Description	Describes the index of the error log that will be read when calling GetErrorLogEntry
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Error Log Index Reference	ENUM	0 = Head, 1 = Tail. Possible values are in Table 6
	8	16	Error Log Index Value	UINT	Error Log Index Value ~ Relative to ErrorLogIndexReference
	24	16	Error Log Entries	UINT	Number of Error Log Entries Present

Table 6: ErrorLogSearch Enumeration Values

Numeric Value	Name	Description
0	ReferenceHead	ReferenceHead
1	ReferenceTail	ReferenceTail

Table 7: Error Log Entry Command Format

ID	4		Parameters Length (bytes)		8
Description	Error Log Entry
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Error Log Entry Timestamp	UINT	Timestamp of this Error Log Entry
	32	32	ErrorLogEntryErrorCode	UINT	ErrorCode of this Error Log Entry

Table 8: Error Log Clear Command Format

ID	5		Parameters Length (bytes)		0
Description	Clear the Error Log

Table 9: Error Log Settings Command Format

ID	6		Parameters Length (bytes)		1
Description	Error Log Settings
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Active State	ENUM	Error Logging Enabled state. Possible values are in Table 10
	1	1	Buffer Full Action	ENUM	Action to take when log is full. Possible values are in Table 11
	2	6	Reserved	PADDING	Reserved.

Table 10: ActiveState Enumeration Values

Numeric Value	Name	Description
0	Enabled	Logging is disabled
1	Disabled	Logging is enabled

Table 11: BufferFullAction Enumeration Values

Numeric Value	Name	Description
0	Ignore	Ignore new entries when buffer is full
1	Erase	Erase log and add new entry when buffer is full

Table 12: Persist Config Command Format

ID	7		Parameters Length (bytes)		0
Description	Writes volatile config items to flash

Table 13: Commanded GNSS measurements Command Format

ID	49		Parameters Length (bytes)		33
Description	GNSS sensor measurements as command to the ADCS
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	GNSS Time integer seconds	UINT	GNSS Unix time integer seconds. (Unit of measure is [s])
	32	32	GNSS Time nanoseconds	UINT	GNSS Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	Satellite position vector X component (GNSS frame)	INT	Satellite position vector X component (GNSS frame). (Unit of measure is [cm])
	96	32	Satellite position vector Y component (GNSS frame)	INT	Satellite position vector Y component (GNSS frame). (Unit of measure is [cm])
	128	32	Satellite position vector Z component (GNSS frame)	INT	Satellite position vector Z component (GNSS frame). (Unit of measure is [cm])
	160	32	Satellite velocity vector X component (GNSS frame)	INT	Satellite velocity vector X component (GNSS frame). (Unit of measure is [cm/s])
	192	32	Satellite velocity vector Y component (GNSS frame)	INT	Satellite velocity vector Y component (GNSS frame). (Unit of measure is [cm/s])
	224	32	Satellite velocity vector Z component (GNSS frame)	INT	Satellite velocity vector Z component (GNSS frame). (Unit of measure is [cm/s])
	256	1	Sync Time	BOOL	Flag to indicate if RTC should sync with unix time

Table 14: Augmented SGP4 configuration Command Format

ID	50		Parameters Length (bytes)		13
Description	Augmented SGP4 configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Batch size	UINT	Number of GNSS measurements before computing updates TLEs
	16	32	Max time between GNSS measurements	UINT	Maximum time between GNSS measurements before resetting filters. (Unit of measure is [s])
	48	16	Max position error	UINT	Maximum position error for asgp4 to continue working. (Unit of measure is [km])
	64	32	Time gain	FLOAT	Time offset compensation gain
	96	1	Update RAAN and Inclination	BOOL	Update SGP4 RAAN and Inclination angles from GNSS
	97	1	Update Eccentricity	BOOL	Update SGP4 Eccentricity from GNSS
	98	1	Update AP and MA	BOOL	Update SGP4 Arg. Perigee and Mean Anomaly from GNSS
	99	1	Update Time	BOOL	Update SGP4 Epoch from GNSS

Table 15: Orbit mode Command Format

ID	51		Parameters Length (bytes)		1
Description	Orbit mode
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Orbit mode	ENUM	Orbit calculation mode. Possible values are in Table 16

Table 16: OrbModeSelect Enumeration Values

Numeric Value	Name	Description
0	SGP4 TLEs only	Orbit calculated from SGP4 TLEs only
1	GNSS primarily and SGP4 otherwise	Orbit calculated from SGP4 TLE but replaced with GNSS measurements if available
2	SGP4 Augmented using GNSS	Orbit calculated from Augmented SGP4 TLE
3	GNSS primarily and Augmented SGP4 otherwise	Orbit calculated from Augmented SGP4 TLE but replaced with GNSS measurements if available

Table 17: Mag Deploy Command Command Format

ID	52		Parameters Length (bytes)		1
Description	Deploy Magnetometer
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Deploy MAG0	BOOL	Deploy MAG0
	1	1	Deploy MAG1	BOOL	Deploy MAG1

Table 18: Reference commands for controllers Command Format

ID	54		Parameters Length (bytes)		36
Description	Reference commands for controllers
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	RPY Roll command	FLOAT	RPY Roll command. (Unit of measure is [deg])
	32	32	RPY Pitch command	FLOAT	RPY Pitch command. (Unit of measure is [deg])
	64	32	RPY Yaw command	FLOAT	RPY Yaw command. (Unit of measure is [deg])
	96	32	Target latitude command	FLOAT	Target latitude command. (Unit of measure is [deg])
	128	32	Target longitude command	FLOAT	Target longitude command. (Unit of measure is [deg])
	160	32	Target altitude command	FLOAT	Target altitude command. (Unit of measure is [km])
	192	32	Commanded ECI pointing vector X component	FLOAT	Commanded ECI pointing vector X component
	224	32	Commanded ECI pointing vector Y component	FLOAT	Commanded ECI pointing vector Y component
	256	32	Commanded ECI pointing vector Z component	FLOAT	Commanded ECI pointing vector Z component

Table 19: OpenLoopCommandMtq Command Format

ID	55		Parameters Length (bytes)		6
Description	OpenLoopCommandMtq
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	MTQ0 open-loop on-time command	INT	MTQ0 open-loop on-time command. (Unit of measure is [ms])
	16	16	MTQ1 open-loop on-time command	INT	MTQ1 open-loop on-time command. (Unit of measure is [ms])
	32	16	MTQ2 open-loop on-time command	INT	MTQ2 open-loop on-time command. (Unit of measure is [ms])

Table 20: Power state Command Format

ID	56		Parameters Length (bytes)		20
Description	Power state
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	RWL0 power state	ENUM	RWL0 power state. Possible values are in Table 21
	8	8	RWL1 power state	ENUM	RWL1 power state. Possible values are in Table 21
	16	8	RWL2 power state	ENUM	RWL2 power state. Possible values are in Table 21
	24	8	RWL3 power state	ENUM	RWL3 power state. Possible values are in Table 21
	32	8	MAG0 power state	ENUM	MAG0 power state. Possible values are in Table 21
	40	8	MAG1 power state	ENUM	MAG1 power state. Possible values are in Table 21
	48	8	GYR0 power state	ENUM	GYR0 power state. Possible values are in Table 21
	56	8	GYR1 power state	ENUM	GYR1 power state. Possible values are in Table 21
	64	8	FSS0 power state	ENUM	FSS0 power state. Possible values are in Table 21
	72	8	FSS1 power state	ENUM	FSS1 power state. Possible values are in Table 21
	80	8	FSS2 power state	ENUM	FSS2 power state. Possible values are in Table 21
	88	8	FSS3 power state	ENUM	FSS3 power state. Possible values are in Table 21
	96	8	HSS0 power state	ENUM	HSS0 power state. Possible values are in Table 21
	104	8	HSS1 power state	ENUM	HSS1 power state. Possible values are in Table 21
	112	8	STR0 power state	ENUM	STR0 power state. Possible values are in Table 21
	120	8	STR1 power state	ENUM	STR1 power state. Possible values are in Table 21
	128	8	ExtSensor0 power state	ENUM	ExtSensor0 power state. Possible values are in Table 21
	136	8	ExtSensor1 power state	ENUM	ExtSensor1 power state. Possible values are in Table 21
	144	8	EXTGYR0 power state	ENUM	EXTGYR0 power state. Possible values are in Table 21
	152	8	EXTGYR1 power state	ENUM	EXTGYR1 power state. Possible values are in Table 21

Table 21: PowerSelect Enumeration Values

Numeric Value	Name	Description
0	Off	Off
1	On	On
2	NoChange	NoChange
3	Auto	Auto
4	OnPass	On - Passthrough Only (No ADCS operations)
5	OffUpgrade	Power off for upgrade (internal use only)

Table 22: ADCS run mode Command Format

ID	57		Parameters Length (bytes)		1
Description	ADCS run mode
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	ADCS run mode	ENUM	ADCS run mode. Possible values are in Table 23

Table 23: AdcsRunModeSelect Enumeration Values

Numeric Value	Name	Description
0	Off	ADCS loop is inactive
1	Enabled	ADCS loop is active
2	Triggered	ADCS loop executed on trigger
3	Simulation	ADCS is in simulation mode

Table 24: Control mode Command Format

ID	58		Parameters Length (bytes)		3
Description	Control mode
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Control mode	ENUM	Control mode. Possible values are in Table 25
	8	16	Magnetic control timeout	UINT	Magnetic control timeout. (Unit of measure is [s])

Table 25: ConModeSelect Enumeration Values

Numeric Value	Name	Description
0	No control	No control
1	Single axis Bdot for detumbling	Single axis Bdot for detumbling
2	Y-Thomson spin	Y-Thomson spin
3	3-axis Bdot detumbling	3-axis Bdot detumbling
4	3-axis low power detumbling	3-axis low power detumbling
5	Sun Y-axis spin detumbling	Sun Y-axis spin detumbling
6	Z-Thomson spin	Z-Thomson spin
7	Sun Z-axis spin detumbling	Sun Z-axis spin detumbling
8	Mag control of GG boom and yaw zero control	Mag control of GG boom and yaw zero control
9	Mag control of GG boom and Z-RW yaw sun pointing	Mag control of GG boom and Z-RW yaw sun pointing
10	Initial Y-wheel ramp to Y-Wheel control	Initial Y-wheel ramp to Y-Wheel control
11	Y-wheel pitch control	Y-wheel pitch control
12	3-axis reaction wheel control	3-axis reaction wheel control
13	RW sun tracking control	RW sun tracking control
14	RW EO target tracking control	RW EO target tracking control
15	RW Earth target steering control	RW Earth target steering control
16	RW G/S target tracking control	RW G/S target tracking control
17	RW Inertial target tracking control	RW Inertial target tracking control
18	RW moon tracking control	RW moon tracking control
19	RW satellite target tracking control	RW satellite target tracking control
20	Nadir pointing and yaw towards the sun	Nadir pointing and yaw towards the sun
21	Nadir pointing and yaw towards ground target	Nadir pointing and yaw towards ground target
22	Velocity pointing and roll towards the sun	Velocity pointing and roll towards the sun
23	Velocity pointing and roll towards ground target	Velocity pointing and roll towards ground target
24	Nadir pointing and yaw best +/-Y body axis to G/S	Nadir pointing and yaw best +/-Y body axis to G/S
50	Controlled stop of RWs	Controlled stop of RWs
51	Open loop XYZ RW momentum command control	Open loop XYZ RW momentum command control
100	User coded control mode	User coded control mode

Table 26: Wheel configuration Command Format

ID	59		Parameters Length (bytes)		62
Description	Wheel configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	RWL0 inertia	FLOAT	RWL0 inertia. (Unit of measure is [kg.m^2])
	32	32	RWL0 maximum momentum	FLOAT	RWL0 maximum momentum. (Unit of measure is [N.m.s])
	64	32	RWL0 maximum torque	FLOAT	RWL0 maximum torque. (Unit of measure is [N.m])
	96	32	RWL1 inertia	FLOAT	RWL1 inertia. (Unit of measure is [kg.m^2])
	128	32	RWL1 maximum momentum	FLOAT	RWL1 maximum momentum. (Unit of measure is [N.m.s])
	160	32	RWL1 maximum torque	FLOAT	RWL1 maximum torque. (Unit of measure is [N.m])
	192	32	RWL2 inertia	FLOAT	RWL2 inertia. (Unit of measure is [kg.m^2])
	224	32	RWL2 maximum momentum	FLOAT	RWL2 maximum momentum. (Unit of measure is [N.m.s])
	256	32	RWL2 maximum torque	FLOAT	RWL2 maximum torque. (Unit of measure is [N.m])
	288	32	RWL3 inertia	FLOAT	RWL3 inertia. (Unit of measure is [kg.m^2])
	320	32	RWL3 maximum momentum	FLOAT	RWL3 maximum momentum. (Unit of measure is [N.m.s])
	352	32	RWL3 maximum torque	FLOAT	RWL3 maximum torque. (Unit of measure is [N.m])
	384	32	Wheel ramp torque	FLOAT	Wheel ramp torque. (Unit of measure is [N.m])
	416	8	Wheel scheme	ENUM	Wheel scheme. Possible values are in Table 27
	424	8	Failed wheel ID	ENUM	Failed wheel ID. Possible values are in Table 28
	432	32	Pyramid nominal momentum	FLOAT	Pyramid nominal momentum. (Unit of measure is [N.m.s])
	464	32	Pyramid tilt angle	FLOAT	Pyramid tilt angle. (Unit of measure is [deg])

Table 27: RwlScheme Enumeration Values

Numeric Value	Name	Description
0	RwlSchemeNoWheels	RwlSchemeNoWheels
1	RwlSchemeYMomentum	RwlSchemeYMomentum
2	RwlSchemeXYZ	RwlSchemeXYZ
3	RwlSchemePyramid	RwlSchemePyramid
4	RwlSchemeTetrahedral	RwlSchemeTetrahedral

Table 28: RwlFailId Enumeration Values

Numeric Value	Name	Description
0	RwlFailNone	RwlFailNone
1	RwlFail0	RwlFail0
2	RwlFail1	RwlFail1
3	RwlFail2	RwlFail2
4	RwlFail3	RwlFail3

Table 29: Target satellite orbit parameter configuration Command Format

ID	60		Parameters Length (bytes)		64
Description	Satellite orbit parameter configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	64	Orbit epoch	DOUBLE	Orbit epoch. (Unit of measure is [yyddd.ssssssss])
	64	64	Orbit inclination	DOUBLE	Orbit inclination. (Unit of measure is [deg])
	128	64	Orbit RAAN	DOUBLE	Orbit RAAN. (Unit of measure is [deg])
	192	64	Orbit eccentricity	DOUBLE	Orbit eccentricity
	256	64	Orbit argument of perigee	DOUBLE	Orbit argument of perigee. (Unit of measure is [deg])
	320	64	Orbit mean anomaly	DOUBLE	Orbit mean anomaly. (Unit of measure is [deg])
	384	64	Orbit mean motion	DOUBLE	Orbit mean motion. (Unit of measure is [orbits/day])
	448	64	Orbit B-star drag term	DOUBLE	Orbit B-star drag term

Table 30: ADCS satellite configuration Command Format

ID	61		Parameters Length (bytes)		42
Description	ADCS satellite configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Moment of inertia Ixx	FLOAT	Moment of inertia Ixx. (Unit of measure is [kg.m^2])
	32	32	Moment of inertia Iyy	FLOAT	Moment of inertia Iyy. (Unit of measure is [kg.m^2])
	64	32	Moment of inertia Izz	FLOAT	Moment of inertia Izz. (Unit of measure is [kg.m^2])
	96	32	Product of inertia Ixy	FLOAT	Product of inertia Ixy. (Unit of measure is [kg.m^2])
	128	32	Product of inertia Ixz	FLOAT	Product of inertia Ixz. (Unit of measure is [kg.m^2])
	160	32	Product of inertia Iyz	FLOAT	Product of inertia Iyz. (Unit of measure is [kg.m^2])
	192	16	Sun-pointing body vector X component	INT	Sun-pointing body vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	208	16	Sun-pointing body vector Y component	INT	Sun-pointing body vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	224	16	Sun-pointing body vector Z component	INT	Sun-pointing body vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	240	16	Target-tracking body vector X component	INT	Target-tracking body vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	256	16	Target-tracking body vector Y component	INT	Target-tracking body vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	272	16	Target-tracking body vector Z component	INT	Target-tracking body vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	288	16	Satellite-tracking body vector X component	INT	Satellite-tracking body vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	304	16	Satellite-tracking body vector Y component	INT	Satellite-tracking body vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	320	16	Satellite-tracking body vector Z component	INT	Satellite-tracking body vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0

Table 31: ADCS controller configuration Command Format

ID	62		Parameters Length (bytes)		86
Description	ADCS controller configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Default control mode	ENUM	Default control mode. Possible values are in Table 25
	8	32	Detumbling damping gain	FLOAT	Detumbling damping gain (Kd)
	40	32	Sun-spin control gain - sunlit part	FLOAT	Sun-spin control gain (KDsun)
	72	32	Sun-spin control gain - eclipse part	FLOAT	Sun-spin control gain (KDecl)
	104	32	Detumbling spin gain	FLOAT	Detumbling spin gain (Ks)
	136	32	Fast B-dot detumbling gain	FLOAT	Fast B-dot detumbling gain (Kdf)
	168	32	Y-momentum nutation damping gain	FLOAT	Y-momentum nutation damping gain (Kn)
	200	32	Y-momentum nutation damping quaternion gain	FLOAT	Y-momentum nutation damping quaternion gain (Kq)
	232	32	X-axis GG nutation damping quaternion gain	FLOAT	X-axis GG nutation damping quaternion gain (Kqx)
	264	32	Y-axis GG nutation damping quaternion gain	FLOAT	Y-axis GG nutation damping quaternion gain (Kqy)
	296	32	Z-axis GG nutation damping quaternion gain	FLOAT	Z-axis GG nutation damping quaternion gain (Kqz)
	328	32	Wheel desaturation control gain	FLOAT	Wheel momentum dumping magnetic control gain (Kh)
	360	32	Y-momentum proportional gain	FLOAT	Y-momentum proportional gain (Kp1)
	392	32	Y-momentum derivative gain	FLOAT	Y-momentum derivative gain (Kd1)
	424	32	RWheel proportional gain	FLOAT	RWheel proportional gain (Kp2)
	456	32	RWheel derivative gain	FLOAT	RWheel derivative gain (Kd2)
	488	32	Tracking proportional gain	FLOAT	Tracking proportional gain (Kp3)
	520	32	Tracking derivative gain	FLOAT	Tracking derivative gain (Kd3)
	552	32	Tracking integral gain	FLOAT	Tracking integral gain (Ki3)
	584	32	Reference spin rate	FLOAT	Reference spin rate (wy-ref). (Unit of measure is [degps])
	616	32	Reference wheel momentum	FLOAT	Reference wheel momentum (H-ref). Must always be smaller than 0. (Unit of measure is [Nms])
	648	32	Y-wheel bias momentum during XYZ-control	FLOAT	Y-wheel bias momentum during XYZ-control (Hy-bias). (Unit of measure is [Nms])
	680	1	Yaw compensation for earth rotation	BOOL	Perform yaw compensation for earth rotation in 3-axis RPY control
	681	7	Reserved	PADDING	Reserved.

Table 32: Mag0 magnetometer in-orbit calibration configuration Command Format

ID	63		Parameters Length (bytes)		24
Description	Mag0 magnetometer in-orbit calibration configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Magnetometer channel 1 offset	INT	Magnetometer channel 1 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	16	16	Magnetometer channel 2 offset	INT	Magnetometer channel 2 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	32	16	Magnetometer channel 3 offset	INT	Magnetometer channel 3 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	48	16	Magnetometer sensitivity matrix S11	INT	Magnetometer sensitivity matrix S11. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	64	16	Magnetometer sensitivity matrix S22	INT	Magnetometer sensitivity matrix S22. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	80	16	Magnetometer sensitivity matrix S33	INT	Magnetometer sensitivity matrix S33. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	96	16	Magnetometer sensitivity matrix S12	INT	Magnetometer sensitivity matrix S12. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	112	16	Magnetometer sensitivity matrix S13	INT	Magnetometer sensitivity matrix S13. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	128	16	Magnetometer sensitivity matrix S21	INT	Magnetometer sensitivity matrix S21. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	144	16	Magnetometer sensitivity matrix S23	INT	Magnetometer sensitivity matrix S23. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	160	16	Magnetometer sensitivity matrix S31	INT	Magnetometer sensitivity matrix S31. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	176	16	Magnetometer sensitivity matrix S32	INT	Magnetometer sensitivity matrix S32. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

Table 33: Default mode configuration Command Format

ID	64		Parameters Length (bytes)		4
Description	Default mode configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Default ADCS run mode	ENUM	Default ADCS run mode. Possible values are in Table 23
	8	8	Default ADCS operational state	ENUM	Default ADCS operational state. Possible values are in Table 34
	16	8	Default control mode in OpStateSafe	ENUM	Default control mode in OpStateSafe. Possible values are in Table 25
	24	8	Default control mode in OpStateAuto	ENUM	Default control mode in OpStateAuto. Possible values are in Table 25

Table 34: AdcsOpStateSelect Enumeration Values

Numeric Value	Name	Description
0	Manual	Manual operational state
1	Auto	Autonomous operational state
2	Safe	Safe operational state
3	Fault	Fault operational state

Table 35: Mounting configuration Command Format

ID	65		Parameters Length (bytes)		98
Description	Mounting configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	StackX mounting	ENUM	StackX mounting. Possible values are in Table 36
	8	8	StackY mounting	ENUM	StackY mounting. Possible values are in Table 36
	16	8	StackZ mounting	ENUM	StackZ mounting. Possible values are in Table 36
	24	8	MTQ0 mounting	ENUM	MTQ0 mounting. Possible values are in Table 36
	32	8	MTQ1 mounting	ENUM	MTQ1 mounting. Possible values are in Table 36
	40	8	MTQ2 mounting	ENUM	MTQ2 mounting. Possible values are in Table 36
	48	8	Wheel0 mounting	ENUM	Wheel0 mounting. Possible values are in Table 36
	56	8	Wheel1 mounting	ENUM	Wheel1 mounting. Possible values are in Table 36
	64	8	Wheel2 mounting	ENUM	Wheel2 mounting. Possible values are in Table 36
	72	8	Wheel3 mounting	ENUM	Wheel3 mounting. Possible values are in Table 36
	80	16	Pyramid RWL mounting alpha angle	INT	Pyramid RWL mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	96	16	Pyramid RWL mounting beta angle	INT	Pyramid RWL mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	112	16	Pyramid RWL mounting gamma angle	INT	Pyramid RWL mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	128	8	CSS0 mounting	ENUM	CSS0 mounting. Possible values are in Table 36
	136	8	CSS1 mounting	ENUM	CSS1 mounting. Possible values are in Table 36
	144	8	CSS2 mounting	ENUM	CSS2 mounting. Possible values are in Table 36
	152	8	CSS3 mounting	ENUM	CSS3 mounting. Possible values are in Table 36
	160	8	CSS4 mounting	ENUM	CSS4 mounting. Possible values are in Table 36
	168	8	CSS5 mounting	ENUM	CSS5 mounting. Possible values are in Table 36
	176	8	CSS6 mounting	ENUM	CSS6 mounting. Possible values are in Table 36
	184	8	CSS7 mounting	ENUM	CSS7 mounting. Possible values are in Table 36
	192	8	CSS8 mounting	ENUM	CSS8 mounting. Possible values are in Table 36
	200	8	CSS9 mounting	ENUM	CSS9 mounting. Possible values are in Table 36
	208	16	FSS0 mounting alpha angle	INT	FSS0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	224	16	FSS0 mounting beta angle	INT	FSS0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	240	16	FSS0 mounting gamma angle	INT	FSS0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	256	16	FSS1 mounting alpha angle	INT	FSS1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	272	16	FSS1 mounting beta angle	INT	FSS1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	288	16	FSS1 mounting gamma angle	INT	FSS1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	304	16	FSS2 mounting alpha angle	INT	FSS2 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	320	16	FSS2 mounting beta angle	INT	FSS2 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	336	16	FSS2 mounting gamma angle	INT	FSS2 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	352	16	FSS3 mounting alpha angle	INT	FSS3 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	368	16	FSS3 mounting beta angle	INT	FSS3 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	384	16	FSS3 mounting gamma angle	INT	FSS3 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	400	16	HSS0 mounting alpha angle	INT	HSS0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	416	16	HSS0 mounting beta angle	INT	HSS0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	432	16	HSS0 mounting gamma angle	INT	HSS0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	448	16	HSS1 mounting alpha angle	INT	HSS1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	464	16	HSS1 mounting beta angle	INT	HSS1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	480	16	HSS1 mounting gamma angle	INT	HSS1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	496	16	MAG0 mounting alpha angle	INT	MAG0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	512	16	MAG0 mounting beta angle	INT	MAG0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	528	16	MAG0 mounting gamma angle	INT	MAG0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	544	16	MAG1 mounting alpha angle	INT	MAG1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	560	16	MAG1 mounting beta angle	INT	MAG1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	576	16	MAG1 mounting gamma angle	INT	MAG1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	592	16	STR0 mounting alpha angle	INT	STR0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	608	16	STR0 mounting beta angle	INT	STR0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	624	16	STR0 mounting gamma angle	INT	STR0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	640	16	STR1 mounting alpha angle	INT	STR1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	656	16	STR1 mounting beta angle	INT	STR1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	672	16	STR1 mounting gamma angle	INT	STR1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	688	16	ExtSensor0 mounting alpha angle	INT	ExtSensor0 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	704	16	ExtSensor0 mounting beta angle	INT	ExtSensor0 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	720	16	ExtSensor0 mounting gamma angle	INT	ExtSensor0 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	736	16	ExtSensor1 mounting alpha angle	INT	ExtSensor1 mounting alpha angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	752	16	ExtSensor1 mounting beta angle	INT	ExtSensor1 mounting beta angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	768	16	ExtSensor1 mounting gamma angle	INT	ExtSensor1 mounting gamma angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)

Table 36: AxisSelect Enumeration Values

Numeric Value	Name	Description
0	Not Used	Not Used
1	Positive X	Positive X
2	Negative X	Negative X
3	Positive Y	Positive Y
4	Negative Y	Negative Y
5	Positive Z	Positive Z
6	Negative Z	Negative Z
7	Tetrahedral A	Tetrahedral A
8	Tetrahedral B	Tetrahedral B
9	Tetrahedral C	Tetrahedral C
10	Tetrahedral D	Tetrahedral D
11	Pyramid A	Pyramid A
12	Pyramid B	Pyramid B
13	Pyramid C	Pyramid C
14	Pyramid D	Pyramid D
15	Skewed 4th wheel at PosXYZ	Skewed 4th wheel at PosXYZ

Table 37: Mag1 magnetometer in-orbit calibration configuration Command Format

ID	66		Parameters Length (bytes)		24
Description	Mag1 magnetometer in-orbit calibration configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Magnetometer channel 1 offset	INT	Magnetometer channel 1 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	16	16	Magnetometer channel 2 offset	INT	Magnetometer channel 2 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	32	16	Magnetometer channel 3 offset	INT	Magnetometer channel 3 offset. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	48	16	Magnetometer sensitivity matrix S11	INT	Magnetometer sensitivity matrix S11. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	64	16	Magnetometer sensitivity matrix S22	INT	Magnetometer sensitivity matrix S22. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	80	16	Magnetometer sensitivity matrix S33	INT	Magnetometer sensitivity matrix S33. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	96	16	Magnetometer sensitivity matrix S12	INT	Magnetometer sensitivity matrix S12. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	112	16	Magnetometer sensitivity matrix S13	INT	Magnetometer sensitivity matrix S13. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	128	16	Magnetometer sensitivity matrix S21	INT	Magnetometer sensitivity matrix S21. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	144	16	Magnetometer sensitivity matrix S23	INT	Magnetometer sensitivity matrix S23. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	160	16	Magnetometer sensitivity matrix S31	INT	Magnetometer sensitivity matrix S31. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0
	176	16	Magnetometer sensitivity matrix S32	INT	Magnetometer sensitivity matrix S32. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*1000.0

Table 38: ADCS estimator configuration Command Format

ID	67		Parameters Length (bytes)		40
Description	ADCS estimator configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Default main estimator mode	ENUM	Default main estimator mode. Possible values are in Table 39
	8	8	Default backup estimator mode	ENUM	Default backup estimator mode. Possible values are in Table 39
	16	32	MAG measurement noise	FLOAT	Magnetometer measurement noise
	48	32	CSS measurement noise	FLOAT	Coarse sun sensor measurement noise
	80	32	FSS measurement noise	FLOAT	Fine sun sensor measurement noise
	112	32	HSS measurement noise	FLOAT	Horizon sensor measurement noise
	144	32	STR measurement noise	FLOAT	Star tracker measurement noise
	176	32	Magnetometer RKF system noise	FLOAT	Magnetometer RKF system noise
	208	32	EKF system noise	FLOAT	EKF system noise
	240	32	Nutation Epsilon correction	FLOAT	Polar nutation Epsilon correction. (Unit of measure is [rad])
	272	32	Nutation Psi correction	FLOAT	Polar nutation Psi correction. (Unit of measure is [rad])
	304	1	Use FSS in EKF	BOOL	Use fine sun sensor measurements in EKF
	305	1	Use CSS in EKF	BOOL	Use coarse sun sensor measurements in EKF
	306	1	Use HSS in EKF	BOOL	Use horizon sensor measurements in EKF
	307	1	Use STR in EKF	BOOL	Use star tracker measurements in EKF
	308	4	Triad Vector 1	ENUM	Vector 1 selection for Triad. Possible values are in Table 40
	312	4	Triad Vector 2	ENUM	Vector 2 selection for Triad. Possible values are in Table 40

Table 39: EstModeSelect Enumeration Values

Numeric Value	Name	Description
0	No estimator	No estimator
1	Gyro measured rates	Gyro measured rates
2	Magnetometer estimated rates	Magnetometer estimated rates
3	Magnetometer estimated rates with pitch estimation	Magnetometer estimated rates with pitch estimation
4	Triad attitude estimation plus gyro rates	Triad attitude estimation plus gyro rates
5	Full state EKF	Full state EKF
6	Gyro EKF for attitude and gyro bias estimation	Gyro EKF for attitude and gyro bias estimation
100	User coded estimator	User coded estimator

Table 40: VecSelect Enumeration Values

Numeric Value	Name	Description
0	MAG	Select magnetometer vector
1	FSS	Select fine sun sensor vector
2	CSS	Select coarse sun sensor vector
3	HSS	Select horizon (nadir) vector

Table 41: Satellite orbit parameter configuration Command Format

ID	68		Parameters Length (bytes)		64
Description	Satellite orbit parameter configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	64	Orbit epoch	DOUBLE	Orbit epoch. (Unit of measure is [yyddd.ssssssss])
	64	64	Orbit inclination	DOUBLE	Orbit inclination. (Unit of measure is [deg])
	128	64	Orbit RAAN	DOUBLE	Orbit RAAN. (Unit of measure is [deg])
	192	64	Orbit eccentricity	DOUBLE	Orbit eccentricity
	256	64	Orbit argument of perigee	DOUBLE	Orbit argument of perigee. (Unit of measure is [deg])
	320	64	Orbit mean anomaly	DOUBLE	Orbit mean anomaly. (Unit of measure is [deg])
	384	64	Orbit mean motion	DOUBLE	Orbit mean motion. (Unit of measure is [orbits/day])
	448	64	Orbit B-star drag term	DOUBLE	Orbit B-star drag term

Table 42: Node selection configuration Command Format

ID	69		Parameters Length (bytes)		8
Description	Node selection configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	RWL selection flags	UINT	RWL selection flags
	8	8	MAG selection flags	UINT	MAG selection flags
	16	8	FSS selection flags	UINT	FSS selection flags
	24	8	HSS selection flags	UINT	HSS selection flags
	32	8	GYR selection flags	UINT	GYR selection flags
	40	8	STR selection flags	UINT	STR selection flags
	48	8	GNSS selection flags	UINT	GNSS selection flags
	56	8	External sensor selection flags	UINT	External sensor selection flags

Table 43: Magnetorquer configuration Command Format

ID	70		Parameters Length (bytes)		20
Description	Magnetorquer configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	MTQ0 maximum dipole moment	FLOAT	MTQ0 maximum dipole moment. (Unit of measure is [A.m^2])
	32	32	MTQ1 maximum dipole moment	FLOAT	MTQ1 maximum dipole moment. (Unit of measure is [A.m^2])
	64	32	MTQ2 maximum dipole moment	FLOAT	MTQ2 maximum dipole moment. (Unit of measure is [A.m^2])
	96	16	Maximum magnetorquer on-time	UINT	Maximum magnetorquer on-time. (Unit of measure is [ms])
	112	16	Minimum magnetorquer on-time	UINT	Minimum magnetorquer on-time. (Unit of measure is [ms])
	128	32	Magnetic control filter factor	FLOAT	LPF factor for magnetorquer commands. Set to zero for no filtering

Table 44: Estimation mode Command Format

ID	71		Parameters Length (bytes)		2
Description	Estimation mode
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Main estimator mode	ENUM	Main estimator mode. Possible values are in Table 39
	8	8	Backup estimator mode	ENUM	Backup estimator mode. Possible values are in Table 39

Table 45: ADCS operational state Command Format

ID	72		Parameters Length (bytes)		1
Description	ADCS operational state
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	ADCS operational state	ENUM	ADCS operational state. Possible values are in Table 34

Table 46: Simulation raw sensor telemetry Command Format

ID	73		Parameters Length (bytes)		277
Description	Simulation raw sensor telemetry
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	FSS0 raw centroid X	INT	FSS0 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	80	16	FSS0 raw centroid Y	INT	FSS0 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	96	16	FSS1 raw centroid X	INT	FSS1 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	112	16	FSS1 raw centroid Y	INT	FSS1 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	128	16	FSS2 raw centroid X	INT	FSS2 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	144	16	FSS2 raw centroid Y	INT	FSS2 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	160	16	FSS3 raw centroid X	INT	FSS3 raw centroid X. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	176	16	FSS3 raw centroid Y	INT	FSS3 raw centroid Y. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0
	192	16	CSS0 raw measurement	UINT	CSS0 raw measurement
	208	16	CSS1 raw measurement	UINT	CSS1 raw measurement
	224	16	CSS2 raw measurement	UINT	CSS2 raw measurement
	240	16	CSS3 raw measurement	UINT	CSS3 raw measurement
	256	16	CSS4 raw measurement	UINT	CSS4 raw measurement
	272	16	CSS5 raw measurement	UINT	CSS5 raw measurement
	288	16	CSS6 raw measurement	UINT	CSS6 raw measurement
	304	16	CSS7 raw measurement	UINT	CSS7 raw measurement
	320	16	CSS8 raw measurement	UINT	CSS8 raw measurement
	336	16	CSS9 raw measurement	UINT	CSS9 raw measurement
	352	16	MAG0 raw vector X component	INT	MAG0 raw vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)
	368	16	MAG0 raw vector Y component	INT	MAG0 raw vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)
	384	16	MAG0 raw vector Z component	INT	MAG0 raw vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)
	400	16	MAG1 raw vector X component	INT	MAG1 raw vector X component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)
	416	16	MAG1 raw vector Y component	INT	MAG1 raw vector Y component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)
	432	16	MAG1 raw vector Z component	INT	MAG1 raw vector Z component. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [uT] units)
	448	32	GYR0 raw rate X component	FLOAT	GYR0 raw rate X component. (Unit of measure is [degps])
	480	32	GYR0 raw rate Y component	FLOAT	GYR0 raw rate Y component. (Unit of measure is [degps])
	512	32	GYR0 raw rate Z component	FLOAT	GYR0 raw rate Z component. (Unit of measure is [degps])
	544	32	GYR1 raw rate X component	FLOAT	GYR1 raw rate X component. (Unit of measure is [degps])
	576	32	GYR1 raw rate Y component	FLOAT	GYR1 raw rate Y component. (Unit of measure is [degps])
	608	32	GYR1 raw rate Z component	FLOAT	GYR1 raw rate Z component. (Unit of measure is [degps])
	640	16	HSS0 raw elevation angle	INT	HSS0 raw elevation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	656	16	HSS0 raw rotation angle	INT	HSS0 raw rotation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	672	16	HSS1 raw elevation angle	INT	HSS1 raw elevation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	688	16	HSS1 raw rotation angle	INT	HSS1 raw rotation angle. Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*100.0 (formatted value is in [deg] units)
	704	16	STR0 measured vector 0 X component	INT	STR0 measured vector 0 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	720	16	STR0 measured vector 0 Y component	INT	STR0 measured vector 0 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	736	16	STR0 measured vector 0 Z component	INT	STR0 measured vector 0 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	752	16	STR0 measured vector 1 X component	INT	STR0 measured vector 1 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	768	16	STR0 measured vector 1 Y component	INT	STR0 measured vector 1 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	784	16	STR0 measured vector 1 Z component	INT	STR0 measured vector 1 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	800	16	STR0 measured vector 2 X component	INT	STR0 measured vector 2 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	816	16	STR0 measured vector 2 Y component	INT	STR0 measured vector 2 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	832	16	STR0 measured vector 2 Z component	INT	STR0 measured vector 2 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	848	16	STR0 modelled vector 0 X component	INT	STR0 modelled vector 0 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	864	16	STR0 modelled vector 0 Y component	INT	STR0 modelled vector 0 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	880	16	STR0 modelled vector 0 Z component	INT	STR0 modelled vector 0 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	896	16	STR0 modelled vector 1 X component	INT	STR0 modelled vector 1 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	912	16	STR0 modelled vector 1 Y component	INT	STR0 modelled vector 1 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	928	16	STR0 modelled vector 1 Z component	INT	STR0 modelled vector 1 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	944	16	STR0 modelled vector 2 X component	INT	STR0 modelled vector 2 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	960	16	STR0 modelled vector 2 Y component	INT	STR0 modelled vector 2 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	976	16	STR0 modelled vector 2 Z component	INT	STR0 modelled vector 2 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	992	16	STR0 measured quaternion Q0 (sensor to IRC frame)	INT	STR0 measured quaternion Q0 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1008	16	STR0 measured quaternion Q1 (sensor to IRC frame)	INT	STR0 measured quaternion Q1 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1024	16	STR0 measured quaternion Q2 (sensor to IRC frame)	INT	STR0 measured quaternion Q2 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1040	16	STR0 measured quaternion Q3 (sensor to IRC frame)	INT	STR0 measured quaternion Q3 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1056	8	STR0 number of identified stars	UINT	STR0 number of identified stars
	1064	16	STR1 measured vector 0 X component	INT	STR1 measured vector 0 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1080	16	STR1 measured vector 0 Y component	INT	STR1 measured vector 0 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1096	16	STR1 measured vector 0 Z component	INT	STR1 measured vector 0 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1112	16	STR1 measured vector 1 X component	INT	STR1 measured vector 1 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1128	16	STR1 measured vector 1 Y component	INT	STR1 measured vector 1 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1144	16	STR1 measured vector 1 Z component	INT	STR1 measured vector 1 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1160	16	STR1 measured vector 2 X component	INT	STR1 measured vector 2 X component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1176	16	STR1 measured vector 2 Y component	INT	STR1 measured vector 2 Y component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1192	16	STR1 measured vector 2 Z component	INT	STR1 measured vector 2 Z component (sensor frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1208	16	STR1 modelled vector 0 X component	INT	STR1 modelled vector 0 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1224	16	STR1 modelled vector 0 Y component	INT	STR1 modelled vector 0 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1240	16	STR1 modelled vector 0 Z component	INT	STR1 modelled vector 0 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1256	16	STR1 modelled vector 1 X component	INT	STR1 modelled vector 1 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1272	16	STR1 modelled vector 1 Y component	INT	STR1 modelled vector 1 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1288	16	STR1 modelled vector 1 Z component	INT	STR1 modelled vector 1 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1304	16	STR1 modelled vector 2 X component	INT	STR1 modelled vector 2 X component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1320	16	STR1 modelled vector 2 Y component	INT	STR1 modelled vector 2 Y component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1336	16	STR1 modelled vector 2 Z component	INT	STR1 modelled vector 2 Z component (IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1352	16	STR1 measured quaternion Q0 (sensor to IRC frame)	INT	STR1 measured quaternion Q0 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1368	16	STR1 measured quaternion Q1 (sensor to IRC frame)	INT	STR1 measured quaternion Q1 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1384	16	STR1 measured quaternion Q2 (sensor to IRC frame)	INT	STR1 measured quaternion Q2 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1400	16	STR1 measured quaternion Q3 (sensor to IRC frame)	INT	STR1 measured quaternion Q3 (sensor to IRC frame). Raw parameter value is obtained using the formula: (raw parameter) = (formatted value)*10000.0
	1416	8	STR1 number of identified stars	UINT	STR1 number of identified stars
	1424	32	GNSS Time integer seconds	UINT	GNSS Unix time integer seconds. (Unit of measure is [s])
	1456	32	GNSS Time nanoseconds	UINT	GNSS Unix time fraction nanoseconds. (Unit of measure is [ns])
	1488	32	Satellite position vector X component (GNSS frame)	INT	Satellite position vector X component (GNSS frame). (Unit of measure is [cm])
	1520	32	Satellite position vector Y component (GNSS frame)	INT	Satellite position vector Y component (GNSS frame). (Unit of measure is [cm])
	1552	32	Satellite position vector Z component (GNSS frame)	INT	Satellite position vector Z component (GNSS frame). (Unit of measure is [cm])
	1584	32	Satellite velocity vector X component (GNSS frame)	INT	Satellite velocity vector X component (GNSS frame). (Unit of measure is [cm/s])
	1616	32	Satellite velocity vector Y component (GNSS frame)	INT	Satellite velocity vector Y component (GNSS frame). (Unit of measure is [cm/s])
	1648	32	Satellite velocity vector Z component (GNSS frame)	INT	Satellite velocity vector Z component (GNSS frame). (Unit of measure is [cm/s])
	1680	32	ExtSensor0 raw measurement float 0	FLOAT	ExtSensor0 raw measurement float 0
	1712	32	ExtSensor0 raw measurement float 1	FLOAT	ExtSensor0 raw measurement float 1
	1744	32	ExtSensor0 raw measurement float 2	FLOAT	ExtSensor0 raw measurement float 2
	1776	32	ExtSensor0 raw measurement float 3	FLOAT	ExtSensor0 raw measurement float 3
	1808	32	ExtSensor0 raw measurement float 4	FLOAT	ExtSensor0 raw measurement float 4
	1840	32	ExtSensor0 raw measurement float 5	FLOAT	ExtSensor0 raw measurement float 5
	1872	32	ExtSensor1 raw measurement float 0	FLOAT	ExtSensor1 raw measurement float 0
	1904	32	ExtSensor1 raw measurement float 1	FLOAT	ExtSensor1 raw measurement float 1
	1936	32	ExtSensor1 raw measurement float 2	FLOAT	ExtSensor1 raw measurement float 2
	1968	32	ExtSensor1 raw measurement float 3	FLOAT	ExtSensor1 raw measurement float 3
	2000	32	ExtSensor1 raw measurement float 4	FLOAT	ExtSensor1 raw measurement float 4
	2032	32	ExtSensor1 raw measurement float 5	FLOAT	ExtSensor1 raw measurement float 5
	2064	32	RWL0 raw speed measurement	FLOAT	RWL0 raw speed measurement. (Unit of measure is [rpm])
	2096	32	RWL1 raw speed measurement	FLOAT	RWL1 raw speed measurement. (Unit of measure is [rpm])
	2128	32	RWL2 raw speed measurement	FLOAT	RWL2 raw speed measurement. (Unit of measure is [rpm])
	2160	32	RWL3 raw speed measurement	FLOAT	RWL3 raw speed measurement. (Unit of measure is [rpm])
	2192	1	FSS0 valid flag	BOOL	FSS0 valid flag
	2193	1	FSS1 valid flag	BOOL	FSS1 valid flag
	2194	1	FSS2 valid flag	BOOL	FSS2 valid flag
	2195	1	FSS3 valid flag	BOOL	FSS3 valid flag
	2196	1	CSS valid flag	BOOL	CSS valid flag
	2197	1	MAG0 valid flag	BOOL	MAG0 valid flag
	2198	1	MAG1 valid flag	BOOL	MAG1 valid flag
	2199	1	GYR0 valid flag	BOOL	GYR0 valid flag
	2200	1	GYR1 valid flag	BOOL	GYR1 valid flag
	2201	1	HSS0 valid flag	BOOL	HSS0 valid flag
	2202	1	HSS1 valid flag	BOOL	HSS1 valid flag
	2203	1	STR0 valid flag	BOOL	STR0 valid flag
	2204	1	STR1 valid flag	BOOL	STR1 valid flag
	2205	1	GNSS valid flag	BOOL	GNSS valid flag
	2206	1	GNSS new nav message flag	BOOL	GNSS new flag
	2207	1	ExtSensor0 valid flag	BOOL	ExtSensor0 valid flag
	2208	1	ExtSensor1 valid flag	BOOL	ExtSensor1 valid flag
	2209	1	RWL0 valid flag	BOOL	RWL0 valid flag
	2210	1	RWL1 valid flag	BOOL	RWL1 valid flag
	2211	1	RWL2 valid flag	BOOL	RWL2 valid flag
	2212	1	RWL3 valid flag	BOOL	RWL3 valid flag

Table 47: OpenLoopCommandRwl Command Format

ID	74		Parameters Length (bytes)		16
Description	OpenLoopCommandRwl
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	RWL0 open-loop speed command	FLOAT	RWL0 open-loop speed command
	32	32	RWL1 open-loop speed command	FLOAT	RWL1 open-loop speed command
	64	32	RWL2 open-loop speed command	FLOAT	RWL2 open-loop speed command
	96	32	RWL3 open-loop speed command	FLOAT	RWL3 open-loop speed command

Table 48: OpenLoopCommandHxyzRW Command Format

ID	76		Parameters Length (bytes)		12
Description	OpenLoopCommandHxyzRW
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	X-momentum open-loop speed command	FLOAT	X-momentum open-loop speed command. (Unit of measure is [Nm])
	32	32	Y-momentum open-loop speed command	FLOAT	Y-momentum open-loop speed command. (Unit of measure is [Nm])
	64	32	Z-momentum open-loop speed command	FLOAT	Z-momentum open-loop speed command. (Unit of measure is [Nm])

Table 49: Mag sensing element configuration Command Format

ID	77		Parameters Length (bytes)		1
Description	Mag sensing element (primary/redundant) configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	MAG0 sensing element	ENUM	MAG0 sensing element (primary/redundant). Possible values are in Table 50
	1	1	MAG1 sensing element	ENUM	MAG1 sensing element (primary/redundant). Possible values are in Table 50

Table 50: MagSensingElementSelect Enumeration Values

Numeric Value	Name	Description
0	Primary	Use the primary magnetometer sensing element on the CubeMag
1	Redundant	Use the redundant magnetometer sensing element on the CubeMag

Table 51: Data Frame Command Format

ID	78		Parameters Length (bytes)		258
Description	A single frame of arbitrary data
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Frame size	UINT	The effective frame size - number of bytes in FrameBytes populated with data
	16	2048	Frame bytes	ARRAY	frame bytes

Table 52: Transfer Frame Command Format

ID	79		Parameters Length (bytes)		2
Description	Image frame to or from buffer
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Next Frame Number	UINT	Number of next frame to be transferred

Table 53: File Transfer Setup Command Format

ID	80		Parameters Length (bytes)		141
Description	Setup a file transfer
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Op Code	ENUM	Operation to perform. Possible values are in Table 54
	8	8	File	ENUM	File to target. Possible values are in Table 55
	16	8	Node	ENUM	OpCode = Upgrade: Node to upgrade in conjunction with SerialInt. Possible values are in Table 56
	24	32	Serial Number Integer	UINT	OpCode = Upgrade: Serial Number Integer of node to upgrade in conjunction with Node
	56	8	Program	ENUM	OpCode = Upgrade: The Program Type to upgrade with. Possible values are in Table 57
	64	32	File Size	UINT	Size of target file: Only used to confirm setup.. (Unit of measure is [Bytes])
	96	4	Force Port	ENUM	OpCode = Upgrade: Force that the node on this port is upgraded In the event that the node is not discoverable.. Possible values are in Table 58
	100	4		PADDING	Reserved.
	104	1024	File Meta Data	ARRAY	CubeSpace File Meta Data. May be less than allocated size (padding required)

Table 54: FtpOpCode Enumeration Values

Numeric Value	Name	Description
0	None	No operation
1	Cancel Transfer	Cancel the Current Transfer
2	Upload	Upload a File
3	Upgrade	Perform Upgrade with file
4	Erase	Erase the file
5	Info	Retrieve file information and cache it without other operations
6	Format	Format the filesystem. Effectively erase all files.

Table 55: FtpFiles Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid File
1	BaseBl CC .bin	Base Bootloader for CubeComputer Image Binary
2	BaseBl R5SB .bin	Base Bootloader for R5 nodes - single bank Image Binary
3	BaseBl 52 .bin	Base Bootloader for 52 nodes Image Binary
4	CubeWheel .bin	CubeWheel Image Binary
5	CubeStar .bin	CubeStar Image Binary
6	CubeSense .bin	CubeSense Image Binary
7	CubeMag Deploy .bin	CubeMag Deploy Image Binary
8	CubeMag Compact .bin	CubeMag Deploy Image Binary
9	CubeAuriga .bin	CubeAuriga Image Binary
10	CubeIr .bin	CubeIR Image Binary
11	CubeNodeSLT .bin	CubeNode-SLT Image Binary
12	CubeNodePST3S .bin	CubeNode-PST3S Image Binary
13	CubeNodeNSSRWL .bin	CubeNode-NSSRWL Image Binary
14	CubeWheel0 .cfg	CubeWheel-0 Config Binary
15	CubeWheel1 .cfg	CubeWheel-1 Config Binary
16	CubeWheel2 .cfg	CubeWheel-2 Config Binary
17	CubeWheel3 .cfg	CubeWheel-3 Config Binary
18	CubeWheel4 .cfg	CubeWheel-4 Config Binary
19	CubeStar0 .cfg	CubeStar-0 Config Binary
20	CubeStar1 .cfg	CubeStar-1 Config Binary
21	CubeStar2 .cfg	CubeStar-2 Config Binary
22	CubeStar3 .cfg	CubeStar-3 Config Binary
23	CubeSense0 .cfg	CubeSense-0 Config Binary
24	CubeSense1 .cfg	CubeSense-1 Config Binary
25	CubeSense2 .cfg	CubeSense-2 Config Binary
26	CubeSense3 .cfg	CubeSense-3 Config Binary
27	CubeMag0 Deploy .cfg	CubeMag-0 Deploy Config Binary
28	CubeMag1 Deploy .cfg	CubeMag-1 Deploy Config Binary
29	CubeMag0 Compact .cfg	CubeMag-0 Compact Config Binary
30	CubeMag1 Compact .cfg	CubeMag-1 Compact Config Binary
31	CubeAuriga0 .cfg	CubeAuriga-0 Config Binary
32	CubeAuriga1 .cfg	CubeAuriga-1 Config Binary
33	CubeIr0 .cfg	CubeIr-0 Config Binary
34	CubeIr1 .cfg	CubeIr-1 Config Binary
35	CubeNodeSlt0 .cfg	CubeNode-SLT-0 Config Binary
36	CubeNodePst3s0 .cfg	CubeNode-PST3S-0 Config Binary
37	CubeNodePst3s1 .cfg	CubeNode-PST3S-1 Config Binary
38	CubeNodeNssRwl0 .cfg	CubeNode-NSSRWL-0 Config Binary
39	CubeNodeNssRwl1 .cfg	CubeNode-NSSRWL-1 Config Binary
40	CubeNodeNssRwl2 .cfg	CubeNode-NSSRWL-2 Config Binary
41	CubeNodeNssRwl3 .cfg	CubeNode-NSSRWL-3 Config Binary
42	CubeNodeQuadPST3S .bin	CubeNode-PST3S Image Binary
43	CubeNodeQuadPst3s0 .cfg	CubeNodeQuad-PST3S-0 Config Binary
44	CubeNodeQuadNSSRWL .bin	CubeNodeQuad-NSSRWL Image Binary
45	CubeNodeQuadNssRwl0 .cfg	CubeNodeQuad-NSSRWL-0 Config Binary
46	CubeNodeQuadLITEFUFORS .bin	CubeNodeQuad-LITEFUFORS Image Binary
47	CubeNodeQuadLitefufors0 .cfg	CubeNode-LITEFUFORS-0 Config Binary
48	CubeNodeQuadLitefufors1 .cfg	CubeNode-LITEFUFORS-1 Config Binary

Table 56: NodeType Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid Node Type
1	CubeComputer	CubeComputer Type - version independant
2	CubeSense	CubeSense Type - version independant
3	CubeWheel	CubeWheel Type - version independant
4	CubeIr	CubeIR Type - version independant
5	CubeMag Deploy	CubeMag Deploy Type - version independant
6	CubeMag Compact	CubeMag Compact Type - version independant
7	CubeStar	CubeStar Type - version independant
8	CubeAuriga	CubeAuriga Type - version independant
9	CubeNode	CubeNode General Type - version independant
10	CubeNode-SLT	CubeNode SLT Type - version independant
11	CubeNode-PST3S	CubeNode PST3S Type - version independant
12	CubeNode-NSSRWL	CubeNode NSSRWL Type - version independant
16	CubeNodeQuad	CubeNodeQuad General Type - version independant
17	CubeNodeQuad-PST3S	CubeNodeQuad PST3S Type - version independant
18	CubeNodeQuad-NSSRWL	CubeNodeQuad NSSRWL Type - version independant
19	CubeNodeQuad-LITEFUFORS	CubeNodeQuad LITEFUFORS Type - version independant

Table 57: ProgramType Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid Program Type
1	control-program	control-program primary product application
4	flash-bootloader	cube-computer flash-bootloader Bootloader application
5	health-check	health-check Health Check application

Table 58: NodePort Enumeration Values

Numeric Value	Name	Description
0	None	No port. Use the value if the Node Port is not relevent
1	Wheel 1	Wheel 1 Port
2	Wheel 2	Wheel 2 Port
3	Wheel 3	Wheel 3 Port
4	Wheel 4	Wheel 4 Port
5	Sensor 1	Sensor 1 Port
6	Sensor 2	Sensor 2 Port
7	Sensor 3	Sensor 3 Port
8	Sensor 4	Sensor 4 Port
9	Sensor 5	Sensor 5 Port
10	Sensor 6	Sensor 6 Port
11	Sensor 7	Sensor 7 Port
12	Sensor 8	Sensor 8 Port

Table 59: Pass Through Command Format

ID	99		Parameters Length (bytes)		1
Description	TCTLM Passthrough settings
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Target Node	ENUM	Target Node. Possible values are in Table 60

Table 60: AbstractNode Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid Abstract Node
1	Computer	CubeComputer
2	Str0	Star tracker 0
3	Str1	Star tracker 1
4	Fss0	Fine sun sensor 0
5	Fss1	Fine sun sensor 1
6	Fss2	Fine sun sensor 2
7	Fss3	Fine sun sensor 3
8	Hss0	Horizon sun sensor 0
9	Hss1	Horizon sun sensor 1
10	Mag0	Magnetometer sensor 0
11	Mag1	Magnetometer sensor 1
12	Ext0	External sensor 0
13	Ext1	External sensor 1
14	Rwl0	Reaction wheel 0
15	Rwl1	Reaction wheel 1
16	Rwl2	Reaction wheel 2
17	Rwl3	Reaction wheel 3
18	Rwl4	Reaction wheel 4
19	ExtGyr0	External gyro 0
20	ExtGyr1	External gyro 1
21	CQ0	CubeNode-Quad 0 (internal/reporting use only)
22	CQ1	CubeNode-Quad 1 (internal/reporting use only)
23	CQ2	CubeNode-Quad 2 (internal/reporting use only)
24	CQ3	CubeNode-Quad 3 (internal/reporting use only)

Table 61: Port Map Command Format

ID	111		Parameters Length (bytes)		120
Description	This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Node Type: Sensor 1	ENUM	Sensor 1 port - Node type identifier. Possible values are in Table 56
	8	8	Abstract Node Type: Sensor 1	ENUM	Sensor 1 port - Abstract Node type identifier. Possible values are in Table 60
	16	32	Serial Number Integer: Sensor 1	UINT	Sensor 1 port - Serial Number Integer Respresentation
	48	32	Address: Sensor 1	UINT	Sensor 1 port - CAN Address
	80	8	Node Type: Sensor 2	ENUM	Sensor 2 port - Node type identifier. Possible values are in Table 56
	88	8	Abstract Node Type: Sensor 2	ENUM	Sensor 2 port - Abstract Node type identifier. Possible values are in Table 60
	96	32	Serial Number Integer: Sensor 2	UINT	Sensor 2 port - Serial Number Integer Respresentation
	128	32	Address: Sensor 2	UINT	Sensor 2 port - CAN Address
	160	8	Node Type: Sensor 3	ENUM	Sensor 3 port - Node type identifier. Possible values are in Table 56
	168	8	Abstract Node Type: Sensor 3	ENUM	Sensor 3 port - Abstract Node type identifier. Possible values are in Table 60
	176	32	Serial Number Integer: Sensor 3	UINT	Sensor 3 port - Serial Number Integer Respresentation
	208	32	Address: Sensor 3	UINT	Sensor 3 port - CAN Address
	240	8	Node Type: Sensor 4	ENUM	Sensor 4 port - Node type identifier. Possible values are in Table 56
	248	8	Abstract Node Type: Sensor 4	ENUM	Sensor 4 port - Abstract Node type identifier. Possible values are in Table 60
	256	32	Serial Number Integer: Sensor 4	UINT	Sensor 4 port - Serial Number Integer Respresentation
	288	32	Address: Sensor 4	UINT	Sensor 4 port - CAN Address
	320	8	Node Type: Sensor 5	ENUM	Sensor 5 port - Node type identifier. Possible values are in Table 56
	328	8	Abstract Node Type: Sensor 5	ENUM	Sensor 5 port - Abstract Node type identifier. Possible values are in Table 60
	336	32	Serial Number Integer: Sensor 5	UINT	Sensor 5 port - Serial Number Integer Respresentation
	368	32	Address: Sensor 5	UINT	Sensor 5 port - CAN Address
	400	8	Node Type: Sensor 6	ENUM	Sensor 6 port - Node type identifier. Possible values are in Table 56
	408	8	Abstract Node Type: Sensor 6	ENUM	Sensor 6 port - Abstract Node type identifier. Possible values are in Table 60
	416	32	Serial Number Integer: Sensor 6	UINT	Sensor 6 port - Serial Number Integer Respresentation
	448	32	Address: Sensor 6	UINT	Sensor 6 port - CAN Address
	480	8	Node Type: Sensor 7	ENUM	Sensor 7 port - Node type identifier. Possible values are in Table 56
	488	8	Abstract Node Type: Sensor 7	ENUM	Sensor 7 port - Abstract Node type identifier. Possible values are in Table 60
	496	32	Serial Number Integer: Sensor 7	UINT	Sensor 7 port - Serial Number Integer Respresentation
	528	32	Address: Sensor 7	UINT	Sensor 7 port - CAN Address
	560	8	Node Type: Sensor 8	ENUM	Sensor 8 port - Node type identifier. Possible values are in Table 56
	568	8	Abstract Node Type: Sensor 8	ENUM	Sensor 8 port - Abstract Node type identifier. Possible values are in Table 60
	576	32	Serial Number Integer: Sensor 8	UINT	Sensor 8 port - Serial Number Integer Respresentation
	608	32	Address: Sensor 8	UINT	Sensor 8 port - CAN Address
	640	8	Node Type: Wheel 1	ENUM	Wheel 1 port - Node type identifier. Possible values are in Table 56
	648	8	Abstract Node Type: Wheel 1	ENUM	Wheel 1 port - Abstract Node type identifier. Possible values are in Table 60
	656	32	Serial Number Integer: Wheel 1	UINT	Wheel 1 port - Serial Number Integer Respresentation
	688	32	Address: Wheel 1	UINT	Wheel 1 port - CAN Address
	720	8	Node Type: Wheel 2	ENUM	Wheel 2 port - Node type identifier. Possible values are in Table 56
	728	8	Abstract Node Type: Wheel 2	ENUM	Wheel 2 port - Abstract Node type identifier. Possible values are in Table 60
	736	32	Serial Number Integer: Wheel 2	UINT	Wheel 2 port - Serial Number Integer Respresentation
	768	32	Address: Wheel 2	UINT	Wheel 2 port - CAN Address
	800	8	Node Type: Wheel 3	ENUM	Wheel 3 port - Node type identifier. Possible values are in Table 56
	808	8	Abstract Node Type: Wheel 3	ENUM	Wheel 3 port - Abstract Node type identifier. Possible values are in Table 60
	816	32	Serial Number Integer: Wheel 3	UINT	Wheel 3 port - Serial Number Integer Respresentation
	848	32	Address: Wheel 3	UINT	Wheel 3 port - CAN Address
	880	8	Node Type: Wheel 4	ENUM	Wheel 4 port - Node type identifier. Possible values are in Table 56
	888	8	Abstract Node Type: Wheel 4	ENUM	Wheel 4 port - Abstract Node type identifier. Possible values are in Table 60
	896	32	Serial Number Integer: Wheel 4	UINT	Wheel 4 port - Serial Number Integer Respresentation
	928	32	Address: Wheel 4	UINT	Wheel 4 port - CAN Address

Table 62: Unsolicited Telemetry Message Setup Command Format

ID	112		Parameters Length (bytes)		17
Description	Inclusion bitmask for unsolicited telemetry
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	4	UART Tlm Return Interval	ENUM	Indicate how frequently unsolicited telemetry is transmitted on the UART interface. Possible values are in Table 63
	4	4	UART2 Tlm Return Interval	ENUM	Indicate how frequently unsolicited telemetry is transmitted on the UART2 interface. Possible values are in Table 63
	8	4	CAN Tlm Return Interval	ENUM	Indicate how frequently unsolicited telemetry is transmitted on the CAN interface. Possible values are in Table 63
	12	4	Reserved	PADDING	Reserved.
	16	40	UART TLM ID inclusion bitmask	ARRAY	Indicate which TLM IDs must be included in the transfered Telemetry on the UART interface
	56	40	UART2 TLM ID inclusion bitmask	ARRAY	Indicate which TLM IDs must be included in the transfered Telemetry on the UART2 interface
	96	40	CAN TLM ID inclusion bitmask	ARRAY	Indicate which TLM IDs must be included in the transfered Telemetry on the CAN interface

Table 63: TlmLogReturnIntervalValues Enumeration Values

Numeric Value	Name	Description
0	Return interval 200ms	Apply 200ms return interval
1	Return interval 1s	Apply 1s return interval
2	Return interval 2s	Apply 2s return interval
3	Return interval 3s	Apply 3s return interval
4	Return interval 4s	Apply 4s return interval
5	Return interval 5s	Apply 5s return interval
6	Return interval 10s	Apply 10s return interval
7	Return interval 20s	Apply 20s return interval
8	Return interval 50s	Apply 50s return interval
9	Return interval 100s	Apply 100s return interval

Table 64: Reset Image File Info Index Command Format

ID	113		Parameters Length (bytes)		0
Description	Resets image file info index

Table 65: Set request image log transfer setup Command Format

ID	114		Parameters Length (bytes)		6
Description	Set request image log transfer setup
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Operation Code	ENUM	Operation code.. Possible values are in Table 66
	8	8	Target Node Type	ENUM	Target node type for image storage and download direct operation codes.. Possible values are in Table 60
	16	32	File Handle	UINT	Target file for download and info operation codes.

Table 66: ImageTransferOpCode Enumeration Values

Numeric Value	Name	Description
0	CaptureStore	Capture an image from the target node and store it on CubeComputer
1	CaptureDownload	Capture an image from the target node and immediately download it without storing it on CubeComputer
2	Download	Download an image stored on CubeComputer
3	InfoReset	Reset the file info request to start from the first image file

Table 67: Set a dummy event Command Format

ID	115		Parameters Length (bytes)		11
Description	Set a dummy event to be stored in the event log
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	2	Event class	ENUM	This field contains the class of the event. Possible values are in Table 68
	2	5	Event source	ENUM	This field contains the source of the event. Possible values are in Table 60
	7	1	Reserved	PADDING	Reserved.
	8	16	Event type	UINT	This field contains the type of the event
	24	64	Event data	ARRAY	This field contains the data of the event

Table 68: EventClass Enumeration Values

Numeric Value	Name	Description
0	Event class info	Event class info
1	Event class warning minor	Event class warning minor
2	Event class warning major	Event class warning major
3	Event class critical	Event class critical

Table 69: Unsolicited Event Message Setup Command Format

ID	116		Parameters Length (bytes)		2
Description	Setup unsolicited event messages
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	UART Info Events	BOOL	Output Info class events to UART
	1	1	UART Minor Warning Events	BOOL	Output minor warning class events to UART
	2	1	UART Major Warning Events	BOOL	Output major warning class events to UART
	3	1	UART Critical Events	BOOL	Output critical class events to UART2
	4	1	UART2 Info Events	BOOL	Output Info class events to UART2
	5	1	UART2 Minor Warning Events	BOOL	Output minor warning class events to UART2
	6	1	UART2 Major Warning Events	BOOL	Output major warning class events to UART2
	7	1	UART2 Critical Events	BOOL	Output critical class events to UART2
	8	1	CAN Info Events	BOOL	Output Info class events to CAN
	9	1	CAN Minor Warning Events	BOOL	Output minor warning class events to CAN
	10	1	CAN Major Warning Events	BOOL	Output major warning class events to CAN
	11	1	CAN Critical Events	BOOL	Output critical class events to CAN

Table 70: Set request telemetry log transfer setup Command Format

ID	117		Parameters Length (bytes)		23
Description	Set request telemetry log transfer setup
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Filter Type	ENUM	Filter type to use when reading tlm logs. Possible values are in Table 71
	8	32	Unix start time	UINT	Indicate the unix start time in seconds. All entries with a timestamp after this time will be included in the transfer.
	40	32	Unix end time	UINT	Indicate the unix start end in seconds. All entries with a timestamp before this time will be included in the transfer.
	72	32	Number of Entries	UINT	If using time next-x or first/last-x or counter next-x filter - indicate the number of entries to transfer.
	104	32	Write Counter	UINT	If using counter next-x filter - indicate the reference write counter value.
	136	4	Tlm Log Return Interval	ENUM	Indicate how many samples to exclude between transferred samples. Possible values are in Table 63
	140	4	Reserved	PADDING	Reserved.
	144	40	Log ID inclusion bitmask	ARRAY	Indicate which log IDs must be included in the transfered Telemetry Log

Table 71: LogReadFilterType Enumeration Values

Numeric Value	Name	Description
0	No Filter	Include all entries
1	Time Span	Filter/read entries logged between two timestamps
2	Time Next X	Filter/read the next x entries logged following the sepecifed start timestamp
3	First X	Filter/read the first x entries logged
4	Last X	Filter/read the last x entries logged
5	Counter Next X	Filter/read the next x entries logged following the specified write counter

Table 72: Initiate Filtered Event Log Transfer Command Format

ID	120		Parameters Length (bytes)		20
Description	Initiate event log transfer by specifying time range and data filter
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Filter Type	ENUM	Filter type to use when reading event logs. Possible values are in Table 71
	8	32	Unix start time	UINT	If using time span/next x filter - indicate the unix start time in seconds. All entries with a timestamp after this time will be included in the transfer.
	40	32	Unix end time	UINT	If using time span filter - indicate the unix end time in seconds. All entries with a timestamp before this time will be included in the transfer.
	72	32	Number of Entries	UINT	If using time next-x or first/last-x or counter next-x filter - indicate the number of entries to transfer.
	104	32	Write Counter	UINT	If using counter next-x filter - indicate the reference write counter value.
	136	1	Include critical events	BOOL	Include critical events in transfer Event Log
	137	1	Include major warning events	BOOL	Include major warning events in transfer Event Log
	138	1	Include minor warning events	BOOL	Include minor warning events in transfer Event Log
	139	1	Include info events	BOOL	Include info events in transfer Event Log
	140	1	Include CubeComputer	BOOL	Include the CubeComputer as a source for events
	141	1	Include RWL 0	BOOL	Include the RWL 0 as a source for events
	142	1	Include RWL 1	BOOL	Include the RWL 1 as a source for events
	143	1	Include RWL 2	BOOL	Include the RWL 2 as a source for events
	144	1	Include RWL 3	BOOL	Include the RWL 3 as a source for events
	145	1	Include Fss 0	BOOL	Include the Fss 0 as a source for events
	146	1	Include Fss 1	BOOL	Include the Fss 1 as a source for events
	147	1	Include Fss 2	BOOL	Include the Fss 2 as a source for events
	148	1	Include Fss 3	BOOL	Include the Fss 3 as a source for events
	149	1	Include Hss 0	BOOL	Include the Hss 0 as a source for events
	150	1	Include Hss 1	BOOL	Include the Hss 1 as a source for events
	151	1	Include Str 0	BOOL	Include the Str 0 as a source for events
	152	1	Include Str 1	BOOL	Include the Str 1 as a source for events
	153	1	Include Mag 0	BOOL	Include the Mag 0 as a source for events
	154	1	Include Mag 1	BOOL	Include the Mag 1 as a source for events
	155	1	Include External 0	BOOL	Include the External 0 as a source for events
	156	1	Include External 1	BOOL	Include the External 1 as a source for events
	157	3	Reserved	PADDING	Reserved.

Table 73: Format all logs Command Format

ID	122		Parameters Length (bytes)		1
Description	Format all logs
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Magic Number	ENUM	Magic number to avoid erroneous formats. Possible values are in Table 74

Table 74: EraseMagicNumbers Enumeration Values

Numeric Value	Name	Description
57	Erase the Telemetry log	Erase the Telemetry log
117	Erase the Event log	Erase the Event log
195	Erase the Image log	Erase the Image log

1.1.1 Telemetry

Table 75: List of Telemetry Frames

ID	Name	Description	Length (bytes)
General
128	Identification	Identification information for this node (Legacy definition - use Identification2 instead) - Table 76	8
129	Serial Number	Unique serial number of the CubeSpace Component - Table 78	70
130	Error Log Index	Describes the index of the error log that will be read when calling GetErrorLogEntry - Table 80	5
131	Error Log Entry	Error Log Entry - Table 81	8
132	Error Log Settings	Error Log Settings - Table 82	1
133	Current Unix time	Current Unix time - Table 83	8
134	Persist Config Diagnostics	Diagnostics data for config persistence - Table 84	6
135	Communication Status	Communication Status - Table 87	32
136	Version	Firmware Version - Table 88	22
137	Boot Status	State information about the device boot process - Table 90	3
138	Telecommand Acknowledge	Used with the I2C protocol to receive Telecommand Ack/Nack - Table 93	4
139	Common Error Codes	Error codes common to all applications - Table 95	16
140	Identification2	Identification information for this node - Table 96	21
159	CubeNode-Quad PortMap	The configured port map of all CubeNode-Quads - Table 97	36
160	Raw CubeStar telemetry	Raw CubeStar telemetry - Table 98	28
161	File Transfer Status	File Transfer Status - Table 102	13
162	Orbit mode	Orbit mode - Table 105	1
163	Current execution point	Current execution point - Table 106	1
164	HIL telemetry	HIL telemetry - Table 108	107
165	Health telemetry for CubeStar	Health telemetry for CubeStar star camera - Table 109	34
166	Health telemetry for CubeNode PST3S	Health telemetry for CubeNode PST3S - Table 110	18
167	Health telemetry for CubeMag magnetometer	Health telemetry for CubeMag magnetometer - Table 111	30
168	Health telemetry for CubeSense Sun	Health telemetry for CubeSense Sun - Table 112	44
169	Torquer Current measurements	Current measurements - Table 113	50
170	Raw CubeSense Sun telemetry	Raw CubeSense Sun telemetry - Table 115	33
171	Raw external sensor telemetry	Raw external sensor telemetry - Table 118	57
172	Controller telemetry	Controller telemetry - Table 119	114
173	Backup estimator telemetry	Backup estimator telemetry - Table 120	71
174	Models telemetry	Models telemetry - Table 121	85
175	Calibrated GNSS sensor telemetry	Calibrated GNSS sensor telemetry - Table 122	41
176	Calibrated HSS sensor telemetry	Calibrated HSS sensor telemetry - Table 123	21
177	Calibrated MAG sensor telemetry	Calibrated MAG sensor telemetry - Table 124	21
178	Calibrated FSS sensor telemetry	Calibrated FSS sensor telemetry - Table 125	33
179	Raw CubeSense Earth telemetry	Raw CubeSense Earth telemetry - Table 126	21
180	Raw MAG sensor telemetry	Raw MAG sensor telemetry - Table 129	21
181	Reference commands for controllers	Reference commands for controllers - Table 130	36
182	OpenLoopCommandMtq	OpenLoopCommandMtq - Table 131	6
183	Power state	Power state - Table 132	20
184	ADCS run mode	ADCS run mode - Table 133	1
185	Control mode	Control mode - Table 134	3
186	Wheel configuration	Wheel configuration - Table 135	62
187	Target satellite orbit parameter configuration	Satellite orbit parameter configuration - Table 136	64
188	Augmented SGP4 configuration	Augmented SGP4 configuration - Table 137	13
189	ADCS satellite configuration	ADCS satellite configuration - Table 138	42
190	ADCS controller configuration	ADCS controller configuration - Table 139	86
191	Mag0 magnetometer in-orbit calibration configuration	Mag0 magnetometer in-orbit calibration configuration - Table 140	24
192	Default mode configuration	Default mode configuration - Table 141	4
193	Mounting configuration	Mounting configuration - Table 142	98
194	Mag1 magnetometer in-orbit calibration configuration	Mag1 magnetometer in-orbit calibration configuration - Table 143	24
195	ADCS estimator configuration	ADCS estimator configuration - Table 144	40
196	Satellite orbit parameter configuration	Satellite orbit parameter configuration - Table 145	64
197	Node selection configuration	Node selection configuration - Table 146	8
198	Magnetorquer configuration	Magnetorquer configuration - Table 147	20
199	Estimation mode	Estimation mode - Table 148	2
200	ADCS operational state	ADCS operational state - Table 149	1
201	Simulation raw sensor telemetry	Simulation raw sensor telemetry - Table 150	277
202	OpenLoopCommandRwl	OpenLoopCommandRwl - Table 151	16
203	Raw CSS sensor telemetry	Raw CSS sensor telemetry - Table 152	19
204	Raw GYR sensor telemetry	Raw GYRO sensor telemetry - Table 153	33
205	Raw RWL sensor telemetry	Raw RWL sensor telemetry - Table 154	25
206	Calibrated CSS sensor telemetry	Calibrated CSS sensor telemetry - Table 155	15
207	Calibrated GYR sensor telemetry	Calibrated GYRO sensor telemetry - Table 156	57
208	Calibrated STR sensor telemetry	Calibrated STR sensor telemetry - Table 157	81
209	Calibrated RWL sensor telemetry	Calibrated RWL sensor telemetry - Table 158	33
210	Main estimator telemetry	Main estimator telemetry - Table 159	71
211	Main estimator high-resolution telemetry	Main estimator high-resolution telemetry - Table 160	36
212	Raw GNSS sensor telemetry	Raw GNSS sensor telemetry - Table 161	52
213	Raw PST3S star tracker telemetry	Raw PST3S star tracker telemetry - Table 162	134
214	ACP execution telemetry	ACP execution telemetry - Table 172	26
215	OpenLoopCommandHxyzRW	OpenLoopCommandHxyzRW - Table 173	12
216	CubeComputer Health	Health telemetry for ADCS CubeComputer - Table 174	40
217	Health telemetry for CubeSense Earth	Health telemetry for CubeSense Earth - Table 175	20
218	Health telemetry for Reaction Wheels	Health telemetry for reaction wheels - Table 176	32
219	Data Frame	A single frame of arbitrary data - Table 177	258
220	Image Frame Information	Information about the current frame in memory - Table 178	4
221	Mag sensing element configuration	Mag sensing element (primary/redundant) configuration - Table 179	1
225	Health telemetry for CubeNode NSSRWL	Health telemetry for CubeNode NSSRWL - Table 180	44
226	Raw NSSRWL sensor telemetry	Raw NSSRWL sensor telemetry - Table 181	53
227	Telemtry log inclusion masks	Get the Telemtry log inclusion masks - Table 182	10
228	Unsolicited Telemetry Message Setup	Inclusion bitmask for unsolicited telemetry - Table 183	17
229	Pass Through	TCTLM Passthrough settings - Table 184	1
230	Component Error Codes	Error codes common to CubeComputer bootloader and control-program - Table 185	24
231	Image File Info	Stored image file information - Table 186	14
232	Image Transfer Status	Image Transfer Status - Table 187	15
233	Unsolicited Event Message Setup	Setup unsolicited event messages - Table 189	2
234	Get the Telemtry log status response	Get the Telemtry log status response - Table 190	19
235	Get the Event log status response	Get the Event log status response - Table 192	41
236	RAW LITEF uFORS sensor telemetry	Raw LITEF uFORS sensor telemetry - Table 194	38
237	Node Initialization States	Current initialization state of each node - Table 195	10
238	Expected Nodes	Lists the expected nodes config item - Table 197	72
239	Port Map	This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect - Table 198	120
240	Port Diagnostics	Diagnostics relating to the inernal CubeConnect interface port - Table 199	65
241	File Transfer Setup	Setup a file transfer - Table 200	141
242	File Info	Cached file information after calling FileTransferSetup - Table 201	105
243	Health telemetry for CubeNode LITEFUFORS	Health telemetry for CubeNode LITEFUFORS - Table 204	26

Table 76: Identification Telemetry Format

ID	128		Frame Length (bytes)		8
Description	Identification information for this node (Legacy definition - use Identification2 instead)
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	4	Node type identifier	ENUM	Node type identifier. Possible values are in Table 77
	4	4	Program type identifier	ENUM	Program type identifier. Possible values are in Table 57
	8	8	Interface version	UINT	Interface version
	16	8	Firmware version (Major)	UINT	Firmware version (Major)
	24	8	Firmware version (Minor)	UINT	Firmware version (Minor)
	32	16	Runtime (seconds)	UINT	Seconds since processor start-up
	48	16	Runtime (milliseconds)	UINT	Milliseconds (after the integer second) since processor start-up

Table 77: NodeTypeLegacy Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid Node Type
1	CubeComputer	CubeComputer Type - version independant
2	CubeSense	CubeSense Type - version independant
3	CubeWheel	CubeWheel Type - version independant
4	CubeIr	CubeIR Type - version independant
5	CubeMag Deploy	CubeMag Deploy Type - version independant
6	CubeMag Compact	CubeMag Compact Type - version independant
7	CubeStar	CubeStar Type - version independant
8	CubeAuriga	CubeAuriga Type - version independant
9	CubeNode	CubeNode General Type - version independant
10	CubeNode-SLT	CubeNode SLT Type - version independant
11	CubeNode-PST3S	CubeNode PST3S Type - version independant
12	CubeNode-NSSRWL	CubeNode NSSRWL Type - version independant
15	NodeTypeLegacyExtended	Marks the end of the 4-bit legacy enum - Make use of a different telemetry that uses the NodeType enum (Identification2)

Table 78: Serial Number Telemetry Format

ID	129		Frame Length (bytes)		70
Description	Unique serial number of the CubeSpace Component
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	256	OTP Serial	STRING	OTP ASCII string of chars denoting the serial number of this module
	256	256	Config Serial	STRING	Config ASCII string of chars denoting the serial number of this module
	512	8	Node type identifier	ENUM	Node type identifier sourced from active serial. Possible values are in Table 56
	520	32	Serial Integer	UINT	Integer representation of the integer portion the serial number of this module sourced from active serial
	552	8	Active Serial Number	ENUM	Which area the serial number (OTP/Config) is being used internally. Possible values are in Table 79

Table 79: SerialSource Enumeration Values

Numeric Value	Name	Description
0	OTP	Serial number sourced from OTP
1	Config	Serial number sourced from Config

Table 80: Error Log Index Telemetry Format

ID	130		Frame Length (bytes)		5
Description	Describes the index of the error log that will be read when calling GetErrorLogEntry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Error Log Index Reference	ENUM	0 = Head, 1 = Tail. Possible values are in Table 6
	8	16	Error Log Index Value	UINT	Error Log Index Value ~ Relative to ErrorLogIndexReference
	24	16	Error Log Entries	UINT	Number of Error Log Entries Present

Table 81: Error Log Entry Telemetry Format

ID	131		Frame Length (bytes)		8
Description	Error Log Entry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Error Log Entry Timestamp	UINT	Timestamp of this Error Log Entry
	32	32	ErrorLogEntryErrorCode	UINT	ErrorCode of this Error Log Entry

Table 82: Error Log Settings Telemetry Format

ID	132		Frame Length (bytes)		1
Description	Error Log Settings
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Active State	ENUM	Error Logging Enabled state. Possible values are in Table 10
	1	1	Buffer Full Action	ENUM	Action to take when log is full. Possible values are in Table 11
	2	6	Reserved	PADDING	Reserved.

Table 83: Current Unix time Telemetry Format

ID	133		Frame Length (bytes)		8
Description	Current Unix time
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Current Unix seconds	UINT	Current Unix time s. (Unit of measure is [s])
	32	32	Current Unix Nanoseconds	UINT	Current Unix time ns. (Unit of measure is [ns])

Table 84: Persist Config Diagnostics Telemetry Format

ID	134		Frame Length (bytes)		6
Description	Diagnostics data for config persistence
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	State	ENUM	Config Persistence Task State. Possible values are in Table 85
	8	8	Last Result	ENUM	Config Persistence Last Result. Possible values are in Table 86
	16	32	Timestamp	UINT	Timestamp of last result. (Unit of measure is [s])

Table 85: ConfigPersistState Enumeration Values

Numeric Value	Name	Description
0	Idle	Config Persist task is IDLE
1	Busy	Config Persist task is BUSY

Table 86: ConfigPersistResult Enumeration Values

Numeric Value	Name	Description
0	None	No result yet for config persist
1	Success	Config Persist SUCCESSFUL
2	Error Param Lock	Config Persist failed due to a parameter mutex timeout
3	ErrorFlash	Config Persist failed due to faillure during flash operations

Table 87: Communication Status Telemetry Format

ID	135		Frame Length (bytes)		32
Description	Communication Status
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	UART Telecommand counter	UINT	UART No. of telecommands received
	16	16	UART Telemetry request counter	UINT	UART No. of telemetry requests received
	32	16	UART Errors reported in SW checks	UINT	UART Errors reported in SW checks
	48	16	UART Errors reported by HW Flags	UINT	UART Errors reported by HW Flags
	64	16	UART2 Telecommand counter	UINT	UART2 No. of telecommands received
	80	16	UART2 Telemetry request counter	UINT	UART2 No. of telemetry requests received
	96	16	UART2 Errors reported in SW checks	UINT	UART2 Errors reported in SW checks
	112	16	UART2 Errors reported by HW Flags	UINT	UART2 Errors reported by HW Flags
	128	16	CAN Telecommand counter	UINT	CAN No. of telecommands received
	144	16	CAN Telemetry request counter	UINT	CAN No. of telemetry requests received
	160	16	CAN Errors reported in SW checks	UINT	CAN Errors reported in SW checks
	176	16	CAN Errors reported by HW Flags	UINT	CAN Errors reported by HW Flags
	192	16	I2C Telecommand counter	UINT	I2C No. of telecommands received
	208	16	I2C Telemetry request counter	UINT	I2C No. of telemetry requests received
	224	16	I2C Errors reported in SW checks	UINT	I2C Errors reported in SW checks
	240	16	I2C Errors reported by HW Flags	UINT	I2C Errors reported by HW Flags

Table 88: Version Telemetry Format

ID	136		Frame Length (bytes)		22
Description	Firmware Version
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Firmware version (Major)	UINT	Firmware version (Major)
	8	8	Firmware version (Minor)	UINT	Firmware version (Minor)
	16	16	Firmware version (Patch)	UINT	Firmware version (Patch)
	32	8	System version (Major)	UINT	System version (Major)
	40	8	System version (Minor)	UINT	System version (Minor)
	48	16	System version (Patch)	UINT	System version (Patch)
	64	8	Git Branch	ENUM	The git branch of the firmware build. Possible values are in Table 89
	72	32	Git Hash	UINT	Git has for the firmware build
	104	32	Build Hash	UINT	Build hash
	136	32	Build Time (seconds)	UINT	Timestamp of the firmware build. (Unit of measure is [s])
	168	8	Hardware version (Minor)	UINT	Hardware version (Minor)

Table 89: GitBranch Enumeration Values

Numeric Value	Name	Description
0	Master	master branch
1	Release	release branch
2	Other	all other informal/development branches - not expected for software bundle firmware

Table 90: Boot Status Telemetry Format

ID	137		Frame Length (bytes)		3
Description	State information about the device boot process
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	State	ENUM	Boot State. Possible values are in Table 91
	8	8	Reset Reason	ENUM	Cause of the last reset. Possible values are in Table 92
	16	1	Shared Params Error	BOOL	CRC check of shared parameters from bootloader failed - app will use its own config values
	17	1	Port Validation Error	BOOL	Port validation failed. Only applicable to CubeComputer.
	18	1	Port Discovery Error	BOOL	Auto-Discovery failed. Only applicable to CubeComputer.
	19	1	OTP Serial Number Error	BOOL	OTP serial number is invalid
	20	1	Config Serial Number Error	BOOL	Config serial number is invalid
	21	1	Serial Number Mismatch Error	BOOL	OTP/Config serial numbers do not match
	22	1	Config invalid error	BOOL	Set if the applications config is invalid and the default configuration is being used (if available).

Table 91: BootState Enumeration Values

Numeric Value	Name	Description
0	Application Initializing	Application is busy booting and initializing
1	Port Validation	CubeComputer control-program is running and performing port validation of connected nodes. Only applicable to CubeComputer
2	Auto-discovery	CubeComputer control-program is running and performing node auto discovery of connected nodes. Only applicable to CubeComputer
3	Application Running	Application is running after successful bootloader execution and initialization
4	ASSERT Error	Application has triggered an ASSERT and will immediately. This is transitory and is not expected to be read as the state. It will be reflected in the reset reason.

Table 92: BootResetReason Enumeration Values

Numeric Value	Name	Description
0	Unkown	Reset reason is unknown
1	Firewall	Firewall (Unused)
2	Option bytes reload	Option-byte reset. This will have a dedicated reset reason if commanded, otherwise, is signals that the bootloader reloaded option bytes automatically before exitting.
3	EXT Pin	External Pin reset (Unused)
4	Brown Out	Brown Out reset
5	Soft Reset	Software reset
6	WatchDog	WatchDog Reset
7	Low Power	Low Power Reset
8	ASSERT error	The running application triggered an ASSERT and reset - check error log for error code

Table 93: Telecommand Acknowledge Telemetry Format

ID	138		Frame Length (bytes)		4
Description	Used with the I2C protocol to receive Telecommand Ack/Nack
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	TCTLM ID	UINT	Last TcTlm ID
	8	8	Error	ENUM	Last TcTlm Error. Possible values are in Table 94
	16	8	ErrorIndex	UINT	Buffer index of error
	24	1	Read	BOOL	Flag indicating if this acknowledgement has been read sinc the last TCTLM

Table 94: TcTlmError Enumeration Values

Numeric Value	Name	Description
0	Ok	No Error
1	Invalid ID	Invalid TcTlm ID
2	Invalid Length	Invalid Length
3	Invalid Parameter	Invalid Parameter
4	CRC	CRC Check Failed
5	Not Implemented	TCTLM not implemented
6	Busy	Busy
7	Sequence	Error in sequence of commands
8	Internal	Internal error
9	Passthrough Timeout	Passthrough node timeout error
10	Passthrough Target	Passthrough target is invalid (passthrough is disabled)

Table 95: Common Error Codes Telemetry Format

ID	139		Frame Length (bytes)		16
Description	Error codes common to all applications
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Slave Service - CAN	UINT	Tctlm comms slave service error code for CAN interface (OBC comms).
	32	32	Slave Service - UART	UINT	Tctlm comms slave service error code for UART interface (OBC comms).
	64	32	Slave Service - I2C	UINT	Tctlm comms slave service error code for I2C interface (OBC comms).
	96	32	Error Log Service	UINT	Error-log service error code.

Table 96: Identification2 Telemetry Format

ID	140		Frame Length (bytes)		21
Description	Identification information for this node
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Node type identifier	ENUM	Node type identifier. Possible values are in Table 56
	8	8	Program type identifier	ENUM	Program type identifier. Possible values are in Table 57
	16	32	Serial Integer	UINT	Integer representation of the integer portion the serial number of this module sourced from active serial
	48	8	Interface version	UINT	Interface version
	56	8	Firmware version (Major)	UINT	Firmware version (Major)
	64	8	Firmware version (Minor)	UINT	Firmware version (Minor)
	72	16	Firmware version (Patch)	UINT	Firmware version (Patch)
	88	8	System version (Major)	UINT	System version (Major)
	96	8	System version (Minor)	UINT	System version (Minor)
	104	16	System version (Patch)	UINT	System version (Patch)
	120	8	Hardware version (Minor)	UINT	Hardware version (Minor)
	128	16	Runtime (seconds)	UINT	Seconds since processor start-up
	144	16	Runtime (milliseconds)	UINT	Milliseconds (after the integer second) since processor start-up
	160	8	Reserved	PADDING	Reserved.

Table 97: CubeNode-Quad PortMap Telemetry Format

ID	159		Frame Length (bytes)		36
Description	The configured port map of all CubeNode-Quads
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Node Type CQ Slot 0	ENUM	CubeNode-Quad node type for this port map (CQ0). Possible values are in Table 56
	8	32	Serial Number Integer CQ Slot 0	UINT	CubeNode-Quad serial number integer for this port map (CQ0)
	40	8	Port 1 CQ Slot 0	ENUM	Abstract type assignment on port 1 of this CubeNode-Quad (CQ0). Possible values are in Table 60
	48	8	Port 2 CQ Slot 0	ENUM	Abstract type assignment on port 2 of this CubeNode-Quad (CQ0). Possible values are in Table 60
	56	8	Port 3 CQ Slot 0	ENUM	Abstract type assignment on port 3 of this CubeNode-Quad (CQ0). Possible values are in Table 60
	64	8	Port 4 CQ Slot 0	ENUM	Abstract type assignment on port 4 of this CubeNode-Quad (CQ0). Possible values are in Table 60
	72	8	Node Type CQ Slot 1	ENUM	CubeNode-Quad node type for this port map (CQ1). Possible values are in Table 56
	80	32	Serial Number Integer CQ Slot 1	UINT	CubeNode-Quad serial number integer for this port map (CQ1)
	112	8	Port 1 CQ Slot 1	ENUM	Abstract type assignment on port 1 of this CubeNode-Quad (CQ1). Possible values are in Table 60
	120	8	Port 2 CQ Slot 1	ENUM	Abstract type assignment on port 2 of this CubeNode-Quad (CQ1). Possible values are in Table 60
	128	8	Port 3 CQ Slot 1	ENUM	Abstract type assignment on port 3 of this CubeNode-Quad (CQ1). Possible values are in Table 60
	136	8	Port 4 CQ Slot 1	ENUM	Abstract type assignment on port 4 of this CubeNode-Quad (CQ1). Possible values are in Table 60
	144	8	Node Type CQ Slot 2	ENUM	CubeNode-Quad node type for this port map (CQ2). Possible values are in Table 56
	152	32	Serial Number Integer CQ Slot 2	UINT	CubeNode-Quad serial number integer for this port map (CQ2)
	184	8	Port 1 CQ Slot 2	ENUM	Abstract type assignment on port 1 of this CubeNode-Quad (CQ2). Possible values are in Table 60
	192	8	Port 2 CQ Slot 2	ENUM	Abstract type assignment on port 2 of this CubeNode-Quad (CQ2). Possible values are in Table 60
	200	8	Port 3 CQ Slot 2	ENUM	Abstract type assignment on port 3 of this CubeNode-Quad (CQ2). Possible values are in Table 60
	208	8	Port 4 CQ Slot 2	ENUM	Abstract type assignment on port 4 of this CubeNode-Quad (CQ2). Possible values are in Table 60
	216	8	Node Type CQ Slot 3	ENUM	CubeNode-Quad node type for this port map (CQ3). Possible values are in Table 56
	224	32	Serial Number Integer CQ Slot 3	UINT	CubeNode-Quad serial number integer for this port map (CQ3)
	256	8	Port 1 CQ Slot 3	ENUM	Abstract type assignment on port 1 of this CubeNode-Quad (CQ3). Possible values are in Table 60
	264	8	Port 2 CQ Slot 3	ENUM	Abstract type assignment on port 2 of this CubeNode-Quad (CQ3). Possible values are in Table 60
	272	8	Port 3 CQ Slot 3	ENUM	Abstract type assignment on port 3 of this CubeNode-Quad (CQ3). Possible values are in Table 60
	280	8	Port 4 CQ Slot 3	ENUM	Abstract type assignment on port 4 of this CubeNode-Quad (CQ3). Possible values are in Table 60

Table 98: Raw CubeStar telemetry Telemetry Format

ID	160		Frame Length (bytes)		28
Description	Raw CubeStar telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	4	STR0 Capture Status	ENUM	Status of image capture operation. Possible values are in Table 99
	68	4	STR0 Detection Status	ENUM	Status of star detection operation. Possible values are in Table 100
	72	4	STR0 Identification Status	ENUM	Status of star identification operation. Possible values are in Table 101
	76	1	STR0 Idle	BOOL	CubeStar is idle and can accept new command
	77	1	STR0 Tracking	BOOL	CubeStar is in tracking mode
	78	1	STR0 valid flag	BOOL	CubeStar raw telemetry valid flag
	79	1	Reserved	PADDING	Reserved.
	80	8	STR0 Number Detected Stars	UINT	Number of detected stars
	88	8	STR0 Number Identified Stars	UINT	Number of identified stars
	96	16	STR0 Angular Rate X	INT	Estimated angular rate around CubeStar X-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0
	112	16	STR0 Angular Rate Y	INT	Estimated angular rate around CubeStar Y-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0
	128	16	STR0 Angular Rate Z	INT	Estimated angular rate around CubeStar Z-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0
	144	4	STR1 Capture Status	ENUM	Status of image capture operation. Possible values are in Table 99
	148	4	STR1 Detection Status	ENUM	Status of star detection operation. Possible values are in Table 100
	152	4	STR1 Identification Status	ENUM	Status of star identification operation. Possible values are in Table 101
	156	1	STR1 Idle	BOOL	CubeStar is idle and can accept new command
	157	1	STR1 Tracking	BOOL	CubeStar is in tracking mode
	158	1	STR1 valid flag	BOOL	CubeStar raw telemetry valid flag
	159	1	Reserved	PADDING	Reserved.
	160	8	STR1 Number Detected Stars	UINT	Number of detected stars
	168	8	STR1 Number Identified Stars	UINT	Number of identified stars
	176	16	STR1 Angular Rate X	INT	Estimated angular rate around CubeStar X-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0
	192	16	STR1 Angular Rate Y	INT	Estimated angular rate around CubeStar Y-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0
	208	16	STR1 Angular Rate Z	INT	Estimated angular rate around CubeStar Z-axis. Formatted value is obtained using the formula: (formatted value) [deg/s] = RAWVAL/10000.0

Table 99: StarCaptureStatus Enumeration Values

Numeric Value	Name	Description
0	Startup	Initialised
1	Pending	Image capture scheduled
2	Busy	Image capture in progress
3	Completed	Successful capture
4	Camera error	Camera error occurred

Table 100: StarDetectStatus Enumeration Values

Numeric Value	Name	Description
0	Startup	Initialised
1	Pending	Detection scheduled
2	Busy	Detection in progress
3	Aborted	Detection stopped because process took too long
4	Completed	Detection completed

Table 101: StarIdStatus Enumeration Values

Numeric Value	Name	Description
0	Startup	Initialised
1	Pending	Identification scheduled
2	Busy	Identification in progress
3	Aborted	Identification stopped because process took too long
4	Out of Memory	Identification stopped because there is not enough memory for match tables
5	Not Enough Stars	Identification was not attempted because there are not enough detected stars
6	Tracking Error	Identification failed because previously tracked stars could not be located
7	Completed	Identification completed

Table 102: File Transfer Status Telemetry Format

ID	161		Frame Length (bytes)		13
Description	File Transfer Status
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	State	ENUM	FTP Global State. Possible values are in Table 103
	8	8	Upgrade State	ENUM	FTP Internal Upgrade State. Possible values are in Table 104
	16	32	Data Remain	UINT	Amount of remaining data to transfer. (Unit of measure is [Bytes])
	48	32	Error Code	UINT	Operation Error Code. Non-Zero = ERROR
	80	1	Busy Error	BOOL	Bootloader is busy
	81	1	File Metadata Error	BOOL	File Metadata received is invalid
	82	1	Version Error	BOOL	File version is incompatible
	83	1	Node Exist Error	BOOL	Target node does not exist
	84	1	Node Expected Error	BOOL	Target node is not expected
	85	1	File CRC Error	BOOL	File CRC Error Flag
	86	1	File Size Error	BOOL	File is too large
	87	1	File Error	BOOL	File Error Flag (open/close)
	88	1	File Invalid Error	BOOL	File Invalid Error Flag
	89	1	File Full Error	BOOL	File Full Error Flag
	90	1	File Empty Error	BOOL	File Empty Error Flag
	91	1	Read Error	BOOL	Read Error Flag
	92	1	Write Error	BOOL	Write Error Flag
	93	1	Erase Error	BOOL	Erase Error Flag
	94	1	Frame Size Error	BOOL	Frame Size Error Flag
	95	1	Timeout Error	BOOL	Timeout Error Flag
	96	1	Node Comms Error	BOOL	Node comms fails during upgrade
	97	1	Node Used Error	BOOL	Node is required for control

Table 103: FtpState Enumeration Values

Numeric Value	Name	Description
0	Idle	No File Transfer in Progress
1	Init	Initializing File Operation
2	Busy	File Transfer is in Progress
3	Locked	File Transfer service is locked

Table 104: FtpUpgradeState Enumeration Values

Numeric Value	Name	Description
0	Idle	No Upgrade in Progress
1	Init	Initializing upgrade operation - first state immediately following transfer setup
2	Trinsition	Upgrade transitioning from image binary to config binary uupgrade
3	InitBin	Initializing image binary upgrade
4	InitCfg	Initializing config binary upgrade
5	BusyBin	Image binary upgrade in progress
6	BusyCfg	Config binary upgrade in progress

Table 105: Orbit mode Telemetry Format

ID	162		Frame Length (bytes)		1
Description	Orbit mode
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Orbit mode	ENUM	Orbit calculation mode. Possible values are in Table 16

Table 106: Current execution point Telemetry Format

ID	163		Frame Length (bytes)		1
Description	Current execution point
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Current execution point	ENUM	Indicates which part of the loop is currently executing. Possible values are in Table 107

Table 107: AcpExecutionPoint Enumeration Values

Numeric Value	Name	Description
0	Initialisation	Initialisation
1	Idle	Idle
2	Sensor communication	Sensor communication
3	ADCS estimation update	ADCS estimation update
4	ADCS controller update	ADCS controller update
5	Reaction wheel communication	Reaction wheel communication
6	ADCS models update	ADCS models update
7	Housekeeping	Housekeeping
8	Telemetry log	Telemetry logging

Table 108: HIL telemetry Telemetry Format

ID	164		Frame Length (bytes)		107
Description	HIL telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Active control mode	ENUM	Active control mode. Possible values are in Table 25
	8	8	Active estimator mode	ENUM	Active estimator mode. Possible values are in Table 39
	16	6	Active orbit mode	ENUM	Active orbit mode. Possible values are in Table 16
	22	1	ASGP4 position error	BOOL	GNSS and ASGP4 position error differs too much
	23	1	HIL synchronised	BOOL	HIL is currently synchronised
	24	32	RWL0 speed command	FLOAT	RWL0 speed command. (Unit of measure is [rpm])
	56	32	RWL1 speed command	FLOAT	RWL1 speed command. (Unit of measure is [rpm])
	88	32	RWL2 speed command	FLOAT	RWL2 speed command. (Unit of measure is [rpm])
	120	32	RWL3 speed command	FLOAT	RWL3 speed command. (Unit of measure is [rpm])
	152	16	MTQ0 on-time command	INT	MTQ0 on-time command. (Unit of measure is [ms])
	168	16	MTQ1 on-time command	INT	MTQ1 on-time command. (Unit of measure is [ms])
	184	16	MTQ2 on-time command	INT	MTQ2 on-time command. (Unit of measure is [ms])
	200	16	Magnetic control timeout	UINT	Magnetic control timeout. (Unit of measure is [s])
	216	1	RWL0 error flag	BOOL	RWL0 error flag
	217	1	RWL1 error flag	BOOL	RWL1 error flag
	218	1	RWL2 error flag	BOOL	RWL2 error flag
	219	1	RWL3 error flag	BOOL	RWL3 error flag
	220	1	RWL0 active flag	BOOL	RWL0 active flag
	221	1	RWL1 active flag	BOOL	RWL1 active flag
	222	1	RWL2 active flag	BOOL	RWL2 active flag
	223	1	RWL3 active flag	BOOL	RWL3 active flag
	224	32	Estimated ORC quaternion Q0	FLOAT	Estimated ORC quaternion Q0
	256	32	Estimated ORC quaternion Q1	FLOAT	Estimated ORC quaternion Q1
	288	32	Estimated ORC quaternion Q2	FLOAT	Estimated ORC quaternion Q2
	320	32	Estimated ORC quaternion Q3	FLOAT	Estimated ORC quaternion Q3
	352	32	Estimated body rate (ORC) X component	FLOAT	Estimated body rate (ORC) X component. (Unit of measure is [degps])
	384	32	Estimated body rate (ORC) Y component	FLOAT	Estimated body rate (ORC) Y component. (Unit of measure is [degps])
	416	32	Estimated body rate (ORC) Z component	FLOAT	Estimated body rate (ORC) Z component. (Unit of measure is [degps])
	448	32	Satellite ECI position vector X component	INT	Satellite ECI position vector X component. (Unit of measure is [m])
	480	32	Satellite ECI position vector Y component	INT	Satellite ECI position vector Y component. (Unit of measure is [m])
	512	32	Satellite ECI position vector Z component	INT	Satellite ECI position vector Z component. (Unit of measure is [m])
	544	16	Satellite ECI velocity vector X component	INT	Satellite ECI velocity vector X component. (Unit of measure is [m/s])
	560	16	Satellite ECI velocity vector Y component	INT	Satellite ECI velocity vector Y component. (Unit of measure is [m/s])
	576	16	Satellite ECI velocity vector Z component	INT	Satellite ECI velocity vector Z component. (Unit of measure is [m/s])
	592	32	Commanded roll angle	FLOAT	Commanded roll angle. (Unit of measure is [deg])
	624	32	Commanded pitch angle	FLOAT	Commanded pitch angle. (Unit of measure is [deg])
	656	32	Commanded yaw angle	FLOAT	Commanded yaw angle. (Unit of measure is [deg])
	688	16	ASGP4 batch counter	UINT	ASGP4 batch counter
	704	16	ASGP4 position delta	UINT	Average position error between GNSS and ASGP4. (Unit of measure is [m])
	720	32	RWL0 speed measurement	FLOAT	RWL0 speed measurement. (Unit of measure is [rpm])
	752	32	RWL1 speed measurement	FLOAT	RWL1 speed measurement. (Unit of measure is [rpm])
	784	32	RWL2 speed measurement	FLOAT	RWL2 speed measurement. (Unit of measure is [rpm])
	816	32	RWL3 speed measurement	FLOAT	RWL3 speed measurement. (Unit of measure is [rpm])
	848	1	RWL0 measurement valid flag	BOOL	RWL0 measurement valid flag
	849	1	RWL1 measurement valid flag	BOOL	RWL1 measurement valid flag
	850	1	RWL2 measurement valid flag	BOOL	RWL2 measurement valid flag
	851	1	RWL3 measurement valid flag	BOOL	RWL3 measurement valid flag

Table 109: Health telemetry for CubeStar Telemetry Format

ID	165		Frame Length (bytes)		34
Description	Health telemetry for CubeStar star camera
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	STR0 MCU Temperature	INT	STR0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	STR0 MCU Current	UINT	STR0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	STR0 MCU Voltage	UINT	STR0 MCU supply voltage. (Unit of measure is [mV])
	48	16	STR0 Current	UINT	STR0 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	64	16	STR0 Peak Current	UINT	STR0 peak current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	80	16	STR0 PCB Temperature	INT	STR0 detector PCB temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	96	1	STR0 Initialise OK	BOOL	STR0 sensor initialised without error
	97	1	STR0 Configure OK	BOOL	STR0 sensor configured without error
	98	6		PADDING	Reserved.
	104	32	STR0 Error Code	UINT	STR0 Error Code
	136	16	STR1 MCU Temperature	INT	STR1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	152	16	STR1 MCU Current	UINT	STR1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	168	16	STR1 MCU Voltage	UINT	STR1 MCU supply voltage. (Unit of measure is [mV])
	184	16	STR1 Current	UINT	STR1 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	200	16	STR1 Peak Current	UINT	STR1 peak current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	216	16	STR1 PCB Temperature	INT	STR1 detector PCB temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	232	1	STR1 Initialise OK	BOOL	STR1 sensor initialised without error
	233	1	STR1 Configure OK	BOOL	STR1 sensor configured without error
	234	6		PADDING	Reserved.
	240	32	STR1 Error Code	UINT	STR1 Error Code

Table 110: Health telemetry for CubeNode PST3S Telemetry Format

ID	166		Frame Length (bytes)		18
Description	Health telemetry for CubeNode PST3S
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	STR0 MCU Temperature	INT	STR0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	STR0 MCU Current	UINT	STR0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	STR0 MCU Voltage	UINT	STR0 MCU supply voltage. (Unit of measure is [mV])
	48	16	STR0 PST3S Current	UINT	STR0 PST3S current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	64	1	STR0 PST3S CAM Overcurrent	BOOL	STR0 PST3S CAM overcurrent
	65	7		PADDING	Reserved.
	72	16	STR1 MCU Temperature	INT	STR1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	88	16	STR1 MCU Current	UINT	STR1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	104	16	STR1 MCU Voltage	UINT	STR1 MCU supply voltage. (Unit of measure is [mV])
	120	16	STR1 PST3S Current	UINT	STR1 PST3S current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	136	1	STR1 PST3S CAM Overcurrent	BOOL	STR1 PST3S CAM overcurrent
	137	7		PADDING	Reserved.

Table 111: Health telemetry for CubeMag magnetometer Telemetry Format

ID	167		Frame Length (bytes)		30
Description	Health telemetry for CubeMag magnetometer
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	MAG0 MCU Temperature	INT	MAG0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	MAG0 MCU Current	UINT	MAG0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	MAG0 MCU Voltage	UINT	MAG0 MCU supply voltage. (Unit of measure is [mV])
	48	16	MAG0 Primary Temperature	INT	MAG0 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	64	16	MAG0 Redundant Temperature	INT	MAG0 Detector Current. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	80	32	MAG0 Burn Current	UINT	MAG0 Deploy Burn Current. (Unit of measure is [mA])
	112	1	MAG0 Deploy Pin State	BOOL	MAG0 Deploy Pin State
	113	1	MAG0 Burn Pin State	BOOL	MAG0 Burn Pin State
	114	1	MAG0 Burn Under Current	BOOL	MAG0 Burn Under Current Flag
	115	1	MAG0 Burn Over Current	BOOL	MAG0 Burn Over Current Flag
	116	1	MAG0 Deploy Timeout	BOOL	MAG0 Deployment timeout Flag
	117	3		PADDING	Reserved.
	120	16	MAG1 MCU Temperature	INT	MAG1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	136	16	MAG1 MCU Current	UINT	MAG1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	152	16	MAG1 MCU Voltage	UINT	MAG1 MCU supply voltage. (Unit of measure is [mV])
	168	16	MAG1 Primary Temperature	INT	MAG1 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	184	16	MAG1 Redundant Temperature	INT	MAG1 Detector Current. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	200	32	MAG1 Burn Current	UINT	MAG1 Deploy Burn Current. (Unit of measure is [mA])
	232	1	MAG1 Deploy Pin State	BOOL	MAG1 Deploy Pin State
	233	1	MAG1 Burn Pin State	BOOL	MAG1 Burn Pin State
	234	1	MAG1 Burn Under Current	BOOL	MAG1 Burn Under Current Flag
	235	1	MAG1 Burn Over Current	BOOL	MAG1 Burn Over Current Flag
	236	1	MAG1 Deploy Timeout	BOOL	MAG1 Deployment timeout Flag

Table 112: Health telemetry for CubeSense Sun Telemetry Format

ID	168		Frame Length (bytes)		44
Description	Health telemetry for CubeSense Sun
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	FSS0 MCU Temperature	INT	FSS0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	FSS0 MCU Current	UINT	FSS0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	FSS0 MCU Voltage	UINT	FSS0 MCU supply voltage. (Unit of measure is [mV])
	48	16	FSS0 CAM current	UINT	FSS0 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	64	16	FSS0 SRAM current	UINT	FSS0 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	80	1	FSS0 CAM overcurrent	BOOL	FSS0 CAM overcurrent detected
	81	1	FSS0 SRAM overcurrent	BOOL	FSS0 SRAM overcurrent detected
	82	6		PADDING	Reserved.
	88	16	FSS1 MCU Temperature	INT	FSS1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	104	16	FSS1 MCU Current	UINT	FSS1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	120	16	FSS1 MCU Voltage	UINT	FSS1 MCU supply voltage. (Unit of measure is [mV])
	136	16	FSS1 CAM current	UINT	FSS1 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	152	16	FSS1 SRAM current	UINT	FSS1 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	168	1	FSS1 CAM overcurrent	BOOL	FSS1 CAM overcurrent detected
	169	1	FSS1 SRAM overcurrent	BOOL	FSS1 SRAM overcurrent detected
	170	6		PADDING	Reserved.
	176	16	FSS2 MCU Temperature	INT	FSS2 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	192	16	FSS2 MCU Current	UINT	FSS2 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	208	16	FSS2 MCU Voltage	UINT	FSS2 MCU supply voltage. (Unit of measure is [mV])
	224	16	FSS2 CAM current	UINT	FSS2 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	240	16	FSS2 SRAM current	UINT	FSS2 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	256	1	FSS2 CAM overcurrent	BOOL	FSS2 CAM overcurrent detected
	257	1	FSS2 SRAM overcurrent	BOOL	FSS2 SRAM overcurrent detected
	258	6		PADDING	Reserved.
	264	16	FSS3 MCU Temperature	INT	FSS3 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	280	16	FSS3 MCU Current	UINT	FSS3 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	296	16	FSS3 MCU Voltage	UINT	FSS3 MCU supply voltage. (Unit of measure is [mV])
	312	16	FSS3 CAM current	UINT	FSS3 Camera current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	328	16	FSS3 SRAM current	UINT	FSS3 SRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	344	1	FSS3 CAM overcurrent	BOOL	FSS3 CAM overcurrent detected
	345	1	FSS3 SRAM overcurrent	BOOL	FSS3 SRAM overcurrent detected
	346	6		PADDING	Reserved.

Table 113: Torquer Current measurements Telemetry Format

ID	169		Frame Length (bytes)		50
Description	Current measurements
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	MTQ1 positive current peak (mA)	FLOAT	Total magnetorquer 1 positive current peak (mA). (Unit of measure is [mA])
	32	32	MTQ1 positive current average (mA)	FLOAT	Total magnetorquer 1 positive current average (mA). (Unit of measure is [mA])
	64	32	MTQ1 negative current peak (mA)	FLOAT	Total magnetorquer 1 negative current peak (mA). (Unit of measure is [mA])
	96	32	MTQ1 negative current average (mA)	FLOAT	Total magnetorquer 1 negative current average (mA). (Unit of measure is [mA])
	128	32	MTQ2 positive current peak (mA)	FLOAT	Total magnetorquer 2 positive current peak (mA). (Unit of measure is [mA])
	160	32	MTQ2 positive current average (mA)	FLOAT	Total magnetorquer 2 positive current average (mA). (Unit of measure is [mA])
	192	32	MTQ2 negative current peak (mA)	FLOAT	Total magnetorquer 2 negative current peak (mA). (Unit of measure is [mA])
	224	32	MTQ2 negative current average (mA)	FLOAT	Total magnetorquer 2 negative current average (mA). (Unit of measure is [mA])
	256	32	MTQ3 positive current peak (mA)	FLOAT	Total magnetorquer 3 positive current peak (mA). (Unit of measure is [mA])
	288	32	MTQ3 positive current average (mA)	FLOAT	Total magnetorquer 3 positive current average (mA). (Unit of measure is [mA])
	320	32	MTQ3 negative current peak (mA)	FLOAT	Total magnetorquer 3 negative current peak (mA). (Unit of measure is [mA])
	352	32	MTQ3 negative current average (mA)	FLOAT	Total magnetorquer 3 negative current average (mA). (Unit of measure is [mA])
	384	3	MTQ1 polarity	ENUM	The polarity of magnetorquer 1 on the last iteration. Possible values are in Table 114
	387	3	MTQ2 polarity	ENUM	The polarity of magnetorquer 2 on the last iteration. Possible values are in Table 114
	390	3	MTQ3 polarity	ENUM	The polarity of magnetorquer 3 on the last iteration. Possible values are in Table 114

Table 114: MtqPolarity Enumeration Values

Numeric Value	Name	Description
0	Off	Magnetorquer is off
1	Positive	Magnetorquer is on with positive polarity
2	Negatve	Magnetorquer is on with negative polarity

Table 115: Raw CubeSense Sun telemetry Telemetry Format

ID	170		Frame Length (bytes)		33
Description	Raw CubeSense Sun telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	FSS0 alpha angle	INT	FSS0 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	80	16	FSS0 beta angle	INT	FSS0 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	96	8	FSS0 capture result	ENUM	FSS0 capture result. Possible values are in Table 116
	104	8	FSS0 detection result	ENUM	FSS0 detection result. Possible values are in Table 117
	112	16	FSS1 alpha angle	INT	FSS1 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	128	16	FSS1 beta angle	INT	FSS1 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	144	8	FSS1 capture result	ENUM	FSS1 capture result. Possible values are in Table 116
	152	8	FSS1 detection result	ENUM	FSS1 detection result. Possible values are in Table 117
	160	16	FSS2 alpha angle	INT	FSS2 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	176	16	FSS2 beta angle	INT	FSS2 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	192	8	FSS2 capture result	ENUM	FSS2 capture result. Possible values are in Table 116
	200	8	FSS2 detection result	ENUM	FSS2 detection result. Possible values are in Table 117
	208	16	FSS3 alpha angle	INT	FSS3 alpha Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	224	16	FSS3 beta angle	INT	FSS3 beta Angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01f
	240	8	FSS3 capture result	ENUM	FSS3 capture result. Possible values are in Table 116
	248	8	FSS3 detection result	ENUM	FSS3 detection result. Possible values are in Table 117
	256	1	FSS0 valid flag	BOOL	FSS0 valid flag
	257	1	FSS1 valid flag	BOOL	FSS1 valid flag
	258	1	FSS2 valid flag	BOOL	FSS2 valid flag
	259	1	FSS3 valid flag	BOOL	FSS3 valid flag

Table 116: SunCaptureResult Enumeration Values

Numeric Value	Name	Description
0	Start-up	Initialized
1	Result Pending	Issued but not complete
2	Successful capture to first SRAM position (not flipped)	Successful capture
3	Camera timeout	Response Timeout
4	SRAM Overcurrent	Overcurrent Detected
5	Successful capture to first SRAM position (flipped)	Successful capture but result flipped

Table 117: SunDetectResult Enumeration Values

Numeric Value	Name	Description
0	Startup	Initialized
1	NoDetect	Nothing Detected
2	Pending	Pending a result
6	SunNotFound	No Sun found
7	Success	Sun detected

Table 118: Raw external sensor telemetry Telemetry Format

ID	171		Frame Length (bytes)		57
Description	Raw external sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	ExtSensor0 raw float 0	FLOAT	ExtSensor0 raw float 0
	96	32	ExtSensor0 raw float 1	FLOAT	ExtSensor0 raw float 1
	128	32	ExtSensor0 raw float 2	FLOAT	ExtSensor0 raw float 2
	160	32	ExtSensor0 raw float 3	FLOAT	ExtSensor0 raw float 3
	192	32	ExtSensor0 raw float 4	FLOAT	ExtSensor0 raw float 4
	224	32	ExtSensor0 raw float 5	FLOAT	ExtSensor0 raw float 5
	256	32	ExtSensor1 raw float 0	FLOAT	ExtSensor1 raw float 0
	288	32	ExtSensor1 raw float 1	FLOAT	ExtSensor1 raw float 1
	320	32	ExtSensor1 raw float 2	FLOAT	ExtSensor1 raw float 2
	352	32	ExtSensor1 raw float 3	FLOAT	ExtSensor1 raw float 3
	384	32	ExtSensor1 raw float 4	FLOAT	ExtSensor1 raw float 4
	416	32	ExtSensor1 raw float 5	FLOAT	ExtSensor1 raw float 5
	448	1	ExtSensor0 valid flag	BOOL	ExtSensor0 valid flag
	449	1	ExtSensor1 valid flag	BOOL	ExtSensor1 valid flag

Table 119: Controller telemetry Telemetry Format

ID	172		Frame Length (bytes)		114
Description	Controller telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	Commanded roll angle	INT	Commanded roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	80	16	Commanded pitch angle	INT	Commanded pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	96	16	Commanded yaw angle	INT	Commanded yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	112	16	Error roll angle (steering)	INT	Error roll angle (steering). Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	128	16	Error pitch angle (steering)	INT	Error pitch angle (steering). Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	144	16	Error yaw angle (steering)	INT	Error yaw angle (steering). Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	160	32	Reference ground/GEO target latitude	FLOAT	Reference ground/GEO target latitude. (Unit of measure is [deg])
	192	32	Reference ground/GEO target longitude	FLOAT	Reference ground/GEO target longitude. (Unit of measure is [deg])
	224	32	Reference ground/GEO target altitude	INT	Reference ground/GEO target altitude. (Unit of measure is [km])
	256	16	Control error quaternion vector Q0	INT	Control error quaternion vector Q0. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	272	16	Control error quaternion vector Q1	INT	Control error quaternion vector Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	288	16	Control error quaternion vector Q2	INT	Control error quaternion vector Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	304	32	RWL0 speed command	FLOAT	RWL0 speed command. (Unit of measure is [rpm])
	336	32	RWL1 speed command	FLOAT	RWL1 speed command. (Unit of measure is [rpm])
	368	32	RWL2 speed command	FLOAT	RWL2 speed command. (Unit of measure is [rpm])
	400	32	RWL3 speed command	FLOAT	RWL3 speed command. (Unit of measure is [rpm])
	432	32	RWL0 momentum command	FLOAT	RWL0 momentum command. (Unit of measure is [N.m.s])
	464	32	RWL1 momentum command	FLOAT	RWL1 momentum command. (Unit of measure is [N.m.s])
	496	32	RWL2 momentum command	FLOAT	RWL2 momentum command. (Unit of measure is [N.m.s])
	528	32	RWL3 momentum command	FLOAT	RWL3 momentum command. (Unit of measure is [N.m.s])
	560	32	RWL0 torque command	FLOAT	RWL0 torque command. (Unit of measure is [N.m])
	592	32	RWL1 torque command	FLOAT	RWL1 torque command. (Unit of measure is [N.m])
	624	32	RWL2 torque command	FLOAT	RWL2 torque command. (Unit of measure is [N.m])
	656	32	RWL3 torque command	FLOAT	RWL3 torque command. (Unit of measure is [N.m])
	688	16	MTQ0 dipole moment command	INT	MTQ0 dipole moment command. Formatted value is obtained using the formula: (formatted value) [A.m^2] = RAWVAL*0.001
	704	16	MTQ1 dipole moment command	INT	MTQ1 dipole moment command. Formatted value is obtained using the formula: (formatted value) [A.m^2] = RAWVAL*0.001
	720	16	MTQ2 dipole moment command	INT	MTQ2 dipole moment command. Formatted value is obtained using the formula: (formatted value) [A.m^2] = RAWVAL*0.001
	736	32	MTQ0 torque command	FLOAT	MTQ0 torque command. (Unit of measure is [N.m])
	768	32	MTQ1 torque command	FLOAT	MTQ1 torque command. (Unit of measure is [N.m])
	800	32	MTQ2 torque command	FLOAT	MTQ2 torque command. (Unit of measure is [N.m])
	832	16	MTQ0 on-time command	INT	MTQ0 on-time command. (Unit of measure is [ms])
	848	16	MTQ1 on-time command	INT	MTQ1 on-time command. (Unit of measure is [ms])
	864	16	MTQ2 on-time command	INT	MTQ2 on-time command. (Unit of measure is [ms])
	880	16	Magnetic control timeout	UINT	Magnetic control timeout. (Unit of measure is [s])
	896	8	Active control mode	ENUM	Active control mode. Possible values are in Table 25
	904	1	RWL0 error flag	BOOL	RWL0 error flag
	905	1	RWL1 error flag	BOOL	RWL1 error flag
	906	1	RWL2 error flag	BOOL	RWL2 error flag
	907	1	RWL3 error flag	BOOL	RWL3 error flag
	908	1	RWL0 active flag	BOOL	RWL0 active flag
	909	1	RWL1 active flag	BOOL	RWL1 active flag
	910	1	RWL2 active flag	BOOL	RWL2 active flag
	911	1	RWL3 active flag	BOOL	RWL3 active flag

Table 120: Backup estimator telemetry Telemetry Format

ID	173		Frame Length (bytes)		71
Description	Backup estimator telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	Estimated roll angle	INT	Estimated roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	80	16	Estimated pitch angle	INT	Estimated pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	96	16	Estimated yaw angle	INT	Estimated yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	112	16	Estimated ORC quaternion Q0	INT	Estimated ORC quaternion Q0. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	128	16	Estimated ORC quaternion Q1	INT	Estimated ORC quaternion Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	144	16	Estimated ORC quaternion Q2	INT	Estimated ORC quaternion Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	160	16	Estimated ORC quaternion Q3	INT	Estimated ORC quaternion Q3. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	176	16	Estimated gyro bias X component	INT	Estimated gyro bias X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001
	192	16	Estimated gyro bias Y component	INT	Estimated gyro bias Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001
	208	16	Estimated gyro bias Z component	INT	Estimated gyro bias Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001
	224	16	Estimated body rate (ORC) X component	INT	Estimated body rate (ORC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	240	16	Estimated body rate (ORC) Y component	INT	Estimated body rate (ORC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	256	16	Estimated body rate (ORC) Z component	INT	Estimated body rate (ORC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	272	16	Estimated body rate (IRC) X component	INT	Estimated body rate (IRC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	288	16	Estimated body rate (IRC) Y component	INT	Estimated body rate (IRC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	304	16	Estimated body rate (IRC) Z component	INT	Estimated body rate (IRC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	320	32	Estimated gyroscopic torque X component	FLOAT	Estimated gyroscopic torque X component. (Unit of measure is [N.m])
	352	32	Estimated gyroscopic torque Y component	FLOAT	Estimated gyroscopic torque Y component. (Unit of measure is [N.m])
	384	32	Estimated gyroscopic torque Z component	FLOAT	Estimated gyroscopic torque Z component. (Unit of measure is [N.m])
	416	16	Innovation vector X component	INT	Innovation vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	432	16	Innovation vector Y component	INT	Innovation vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	448	16	Innovation vector Z component	INT	Innovation vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	464	16	StdDev of estimated rate X component	INT	StdDev of estimated rate X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001
	480	16	StdDev of estimated rate Y component	INT	StdDev of estimated rate Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001
	496	16	StdDev of estimated rate Z component	INT	StdDev of estimated rate Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001
	512	16	StdDev of estimated quaternion Q0 component	INT	StdDev of estimated quaternion Q0 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	528	16	StdDev of estimated quaternion Q1 component	INT	StdDev of estimated quaternion Q1 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	544	16	StdDev of estimated quaternion Q2 component	INT	StdDev of estimated quaternion Q2 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	560	8	Active estimator mode	ENUM	Active estimator mode. Possible values are in Table 39

Table 121: Models telemetry Telemetry Format

ID	174		Frame Length (bytes)		85
Description	Models telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	Satellite ECI position vector X component	INT	Satellite ECI position vector X component. (Unit of measure is [m])
	96	32	Satellite ECI position vector Y component	INT	Satellite ECI position vector Y component. (Unit of measure is [m])
	128	32	Satellite ECI position vector Z component	INT	Satellite ECI position vector Z component. (Unit of measure is [m])
	160	16	Satellite ECI velocity vector X component	INT	Satellite ECI velocity vector X component. (Unit of measure is [m/s])
	176	16	Satellite ECI velocity vector Y component	INT	Satellite ECI velocity vector Y component. (Unit of measure is [m/s])
	192	16	Satellite ECI velocity vector Z component	INT	Satellite ECI velocity vector Z component. (Unit of measure is [m/s])
	208	16	Satellite geodetic latitude	INT	Satellite geodetic latitude. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	224	16	Satellite geocentric latitude	INT	Satellite geocentric latitude. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	240	16	Satellite longitude	INT	Satellite longitude. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	256	32	Satellite altitude	UINT	Satellite altitude. Formatted value is obtained using the formula: (formatted value) [km] = RAWVAL*0.01
	288	32	Target satellite ECI position vector X component	INT	Target satellite ECI position vector X component. (Unit of measure is [m])
	320	32	Target satellite ECI position vector Y component	INT	Target satellite ECI position vector Y component. (Unit of measure is [m])
	352	32	Target satellite ECI position vector Z component	INT	Target satellite ECI position vector Z component. (Unit of measure is [m])
	384	16	IGRF ORC model X component	INT	IGRF ORC model X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	400	16	IGRF ORC model Y component	INT	IGRF ORC model Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	416	16	IGRF ORC model Z component	INT	IGRF ORC model Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	432	16	Sun ORC model X component	INT	Sun ORC model X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	448	16	Sun ORC model Y component	INT	Sun ORC model Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	464	16	Sun ORC model Z component	INT	Sun ORC model Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	480	16	Sun beta angle with orbit plane	INT	Sun beta angle with orbit plane. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	496	16	Horizon angle in XoYo plane	INT	Horizon angle in XoYo plane. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	512	16	Horizon East angle from Xo direction	INT	Horizon East angle from Xo direction. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	528	16	Horizon East angle from Yi direction	INT	Horizon East angle from Yi direction. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	544	32	Satellite to ground ORC target vector X component	INT	Satellite to ground ORC target vector X component. (Unit of measure is [m])
	576	32	Satellite to ground ORC target vector Y component	INT	Satellite to ground ORC target vector Y component. (Unit of measure is [m])
	608	32	Satellite to ground ORC target vector Z component	INT	Satellite to ground ORC target vector Z component. (Unit of measure is [m])
	640	16	ASGP4 batch counter	UINT	ASGP4 batch counter
	656	16	ASGP4 position delta	UINT	Average position error between GNSS and ASGP4. (Unit of measure is [m])
	672	2	Active orbit mode	ENUM	Active orbit mode. Possible values are in Table 16
	674	1	ASGP4 position error	BOOL	GNSS and ASGP4 position error differs too much
	675	1	Eclipse flag	BOOL	Eclipse flag

Table 122: Calibrated GNSS sensor telemetry Telemetry Format

ID	175		Frame Length (bytes)		41
Description	Calibrated GNSS sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	Satellite ECEF position vector X component	FLOAT	Satellite ECEF position vector X component. (Unit of measure is [m])
	96	32	Satellite ECEF position vector Y component	FLOAT	Satellite ECEF position vector Y component. (Unit of measure is [m])
	128	32	Satellite ECEF position vector Z component	FLOAT	Satellite ECEF position vector Z component. (Unit of measure is [m])
	160	32	Satellite ECEF velocity vector X component	FLOAT	Satellite ECEF velocity vector X component. (Unit of measure is [m/s])
	192	32	Satellite ECEF velocity vector Y component	FLOAT	Satellite ECEF velocity vector Y component. (Unit of measure is [m/s])
	224	32	Satellite ECEF velocity vector Z component	FLOAT	Satellite ECEF velocity vector Z component. (Unit of measure is [m/s])
	256	32	GNSS-supplied unix time integer seconds	UINT	GNSS-supplied unix time integer seconds. (Unit of measure is [s])
	288	32	GNSS-supplied unix time nanoseconds	UINT	GNSS-supplied unix time nanoseconds. (Unit of measure is [ns])
	320	1	GNSS valid flag	BOOL	GNSS valid flag

Table 123: Calibrated HSS sensor telemetry Telemetry Format

ID	176		Frame Length (bytes)		21
Description	Calibrated HSS sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	HSS0 calibrated unit vector X component	INT	HSS0 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	80	16	HSS0 calibrated unit vector Y component	INT	HSS0 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	96	16	HSS0 calibrated unit vector Z component	INT	HSS0 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	112	16	HSS1 calibrated unit vector X component	INT	HSS1 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	128	16	HSS1 calibrated unit vector Y component	INT	HSS1 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	144	16	HSS1 calibrated unit vector Z component	INT	HSS1 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	160	1	HSS0 valid flag	BOOL	HSS0 valid flag
	161	1	HSS1 valid flag	BOOL	HSS1 valid flag

Table 124: Calibrated MAG sensor telemetry Telemetry Format

ID	177		Frame Length (bytes)		21
Description	Calibrated MAG sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	MAG0 calibrated vector X component	INT	MAG0 calibrated vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	80	16	MAG0 calibrated vector Y component	INT	MAG0 calibrated vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	96	16	MAG0 calibrated vector Z component	INT	MAG0 calibrated vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	112	16	MAG1 calibrated vector X component	INT	MAG1 calibrated vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	128	16	MAG1 calibrated vector Y component	INT	MAG1 calibrated vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	144	16	MAG1 calibrated vector Z component	INT	MAG1 calibrated vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	160	1	MAG0 valid flag	BOOL	MAG0 valid flag
	161	1	MAG1 valid flag	BOOL	MAG1 valid flag
	162	1	MAG0 best for estimators flag	BOOL	MAG0 best for estimators flag
	163	1	MAG1 best for estimators flag	BOOL	MAG1 best for estimators flag

Table 125: Calibrated FSS sensor telemetry Telemetry Format

ID	178		Frame Length (bytes)		33
Description	Calibrated FSS sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	FSS0 calibrated unit vector X component	INT	FSS0 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	80	16	FSS0 calibrated unit vector Y component	INT	FSS0 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	96	16	FSS0 calibrated unit vector Z component	INT	FSS0 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	112	16	FSS1 calibrated unit vector X component	INT	FSS1 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	128	16	FSS1 calibrated unit vector Y component	INT	FSS1 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	144	16	FSS1 calibrated unit vector Z component	INT	FSS1 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	160	16	FSS2 calibrated unit vector X component	INT	FSS2 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	176	16	FSS2 calibrated unit vector Y component	INT	FSS2 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	192	16	FSS2 calibrated unit vector Z component	INT	FSS2 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	208	16	FSS3 calibrated unit vector X component	INT	FSS3 calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	224	16	FSS3 calibrated unit vector Y component	INT	FSS3 calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	240	16	FSS3 calibrated unit vector Z component	INT	FSS3 calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	256	1	FSS0 valid flag	BOOL	FSS0 valid flag
	257	1	FSS1 valid flag	BOOL	FSS1 valid flag
	258	1	FSS2 valid flag	BOOL	FSS2 valid flag
	259	1	FSS3 valid flag	BOOL	FSS3 valid flag
	260	1	FSS0 best for estimators flag	BOOL	FSS0 best for estimators flag
	261	1	FSS1 best for estimators flag	BOOL	FSS1 best for estimators flag
	262	1	FSS2 best for estimators flag	BOOL	FSS2 best for estimators flag
	263	1	FSS3 best for estimators flag	BOOL	FSS3 best for estimators flag

Table 126: Raw CubeSense Earth telemetry Telemetry Format

ID	179		Frame Length (bytes)		21
Description	Raw CubeSense Earth telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	HSS0 raw elevation angle	INT	HSS0 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	80	16	HSS0 raw rotation angle	INT	HSS0 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	96	8	HSS0 capture result	ENUM	HSS0 capture result. Possible values are in Table 127
	104	8	HSS0 detection result	ENUM	HSS0 detection result. Possible values are in Table 128
	112	16	HSS1 raw elevation angle	INT	HSS1 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	128	16	HSS1 raw rotation angle	INT	HSS1 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	144	8	HSS1 capture result	ENUM	HSS1 capture result. Possible values are in Table 127
	152	8	HSS1 detection result	ENUM	HSS1 detection result. Possible values are in Table 128
	160	1	HSS0 valid flag	BOOL	HSS0 valid flag
	161	1	HSS1 valid flag	BOOL	HSS1 valid flag

Table 127: EarthCaptureResult Enumeration Values

Numeric Value	Name	Description
0	Start-up	Initialized
1	Result Pending	Issued but not complete
2	Successful capture	Successful capture
3	Camera timeout	Response Timeout
4	Capture Error	Capture driver error

Table 128: EarthDetectResult Enumeration Values

Numeric Value	Name	Description
0	Startup	Initialized
1	Pending	Pending a result
2	No Horizon	No horizon detected in field of view
3	Too Few Edges	Not enough edge points detected
4	Bad Fit	Failed to fit shape on horizon
5	Success	Horizon detected

Table 129: Raw MAG sensor telemetry Telemetry Format

ID	180		Frame Length (bytes)		21
Description	Raw MAG sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	MAG0 raw vector X component	INT	MAG0 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	80	16	MAG0 raw vector Y component	INT	MAG0 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	96	16	MAG0 raw vector Z component	INT	MAG0 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	112	16	MAG1 raw vector X component	INT	MAG1 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	128	16	MAG1 raw vector Y component	INT	MAG1 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	144	16	MAG1 raw vector Z component	INT	MAG1 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	160	1	MAG0 valid flag	BOOL	MAG0 valid flag
	161	1	MAG1 valid flag	BOOL	MAG1 valid flag

Table 130: Reference commands for controllers Telemetry Format

ID	181		Frame Length (bytes)		36
Description	Reference commands for controllers
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	RPY Roll command	FLOAT	RPY Roll command. (Unit of measure is [deg])
	32	32	RPY Pitch command	FLOAT	RPY Pitch command. (Unit of measure is [deg])
	64	32	RPY Yaw command	FLOAT	RPY Yaw command. (Unit of measure is [deg])
	96	32	Target latitude command	FLOAT	Target latitude command. (Unit of measure is [deg])
	128	32	Target longitude command	FLOAT	Target longitude command. (Unit of measure is [deg])
	160	32	Target altitude command	FLOAT	Target altitude command. (Unit of measure is [km])
	192	32	Commanded ECI pointing vector X component	FLOAT	Commanded ECI pointing vector X component
	224	32	Commanded ECI pointing vector Y component	FLOAT	Commanded ECI pointing vector Y component
	256	32	Commanded ECI pointing vector Z component	FLOAT	Commanded ECI pointing vector Z component

Table 131: OpenLoopCommandMtq Telemetry Format

ID	182		Frame Length (bytes)		6
Description	OpenLoopCommandMtq
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	MTQ0 open-loop on-time command	INT	MTQ0 open-loop on-time command. (Unit of measure is [ms])
	16	16	MTQ1 open-loop on-time command	INT	MTQ1 open-loop on-time command. (Unit of measure is [ms])
	32	16	MTQ2 open-loop on-time command	INT	MTQ2 open-loop on-time command. (Unit of measure is [ms])

Table 132: Power state Telemetry Format

ID	183		Frame Length (bytes)		20
Description	Power state
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	RWL0 power state	ENUM	RWL0 power state. Possible values are in Table 21
	8	8	RWL1 power state	ENUM	RWL1 power state. Possible values are in Table 21
	16	8	RWL2 power state	ENUM	RWL2 power state. Possible values are in Table 21
	24	8	RWL3 power state	ENUM	RWL3 power state. Possible values are in Table 21
	32	8	MAG0 power state	ENUM	MAG0 power state. Possible values are in Table 21
	40	8	MAG1 power state	ENUM	MAG1 power state. Possible values are in Table 21
	48	8	GYR0 power state	ENUM	GYR0 power state. Possible values are in Table 21
	56	8	GYR1 power state	ENUM	GYR1 power state. Possible values are in Table 21
	64	8	FSS0 power state	ENUM	FSS0 power state. Possible values are in Table 21
	72	8	FSS1 power state	ENUM	FSS1 power state. Possible values are in Table 21
	80	8	FSS2 power state	ENUM	FSS2 power state. Possible values are in Table 21
	88	8	FSS3 power state	ENUM	FSS3 power state. Possible values are in Table 21
	96	8	HSS0 power state	ENUM	HSS0 power state. Possible values are in Table 21
	104	8	HSS1 power state	ENUM	HSS1 power state. Possible values are in Table 21
	112	8	STR0 power state	ENUM	STR0 power state. Possible values are in Table 21
	120	8	STR1 power state	ENUM	STR1 power state. Possible values are in Table 21
	128	8	ExtSensor0 power state	ENUM	ExtSensor0 power state. Possible values are in Table 21
	136	8	ExtSensor1 power state	ENUM	ExtSensor1 power state. Possible values are in Table 21
	144	8	EXTGYR0 power state	ENUM	EXTGYR0 power state. Possible values are in Table 21
	152	8	EXTGYR1 power state	ENUM	EXTGYR1 power state. Possible values are in Table 21

Table 133: ADCS run mode Telemetry Format

ID	184		Frame Length (bytes)		1
Description	ADCS run mode
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	ADCS run mode	ENUM	ADCS run mode. Possible values are in Table 23

Table 134: Control mode Telemetry Format

ID	185		Frame Length (bytes)		3
Description	Control mode
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Control mode	ENUM	Control mode. Possible values are in Table 25
	8	16	Magnetic control timeout	UINT	Magnetic control timeout. (Unit of measure is [s])

Table 135: Wheel configuration Telemetry Format

ID	186		Frame Length (bytes)		62
Description	Wheel configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	RWL0 inertia	FLOAT	RWL0 inertia. (Unit of measure is [kg.m^2])
	32	32	RWL0 maximum momentum	FLOAT	RWL0 maximum momentum. (Unit of measure is [N.m.s])
	64	32	RWL0 maximum torque	FLOAT	RWL0 maximum torque. (Unit of measure is [N.m])
	96	32	RWL1 inertia	FLOAT	RWL1 inertia. (Unit of measure is [kg.m^2])
	128	32	RWL1 maximum momentum	FLOAT	RWL1 maximum momentum. (Unit of measure is [N.m.s])
	160	32	RWL1 maximum torque	FLOAT	RWL1 maximum torque. (Unit of measure is [N.m])
	192	32	RWL2 inertia	FLOAT	RWL2 inertia. (Unit of measure is [kg.m^2])
	224	32	RWL2 maximum momentum	FLOAT	RWL2 maximum momentum. (Unit of measure is [N.m.s])
	256	32	RWL2 maximum torque	FLOAT	RWL2 maximum torque. (Unit of measure is [N.m])
	288	32	RWL3 inertia	FLOAT	RWL3 inertia. (Unit of measure is [kg.m^2])
	320	32	RWL3 maximum momentum	FLOAT	RWL3 maximum momentum. (Unit of measure is [N.m.s])
	352	32	RWL3 maximum torque	FLOAT	RWL3 maximum torque. (Unit of measure is [N.m])
	384	32	Wheel ramp torque	FLOAT	Wheel ramp torque. (Unit of measure is [N.m])
	416	8	Wheel scheme	ENUM	Wheel scheme. Possible values are in Table 27
	424	8	Failed wheel ID	ENUM	Failed wheel ID. Possible values are in Table 28
	432	32	Pyramid nominal momentum	FLOAT	Pyramid nominal momentum. (Unit of measure is [N.m.s])
	464	32	Pyramid tilt angle	FLOAT	Pyramid tilt angle. (Unit of measure is [deg])

Table 136: Target satellite orbit parameter configuration Telemetry Format

ID	187		Frame Length (bytes)		64
Description	Satellite orbit parameter configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	64	Orbit epoch	DOUBLE	Orbit epoch. (Unit of measure is [yyddd.ssssssss])
	64	64	Orbit inclination	DOUBLE	Orbit inclination. (Unit of measure is [deg])
	128	64	Orbit RAAN	DOUBLE	Orbit RAAN. (Unit of measure is [deg])
	192	64	Orbit eccentricity	DOUBLE	Orbit eccentricity
	256	64	Orbit argument of perigee	DOUBLE	Orbit argument of perigee. (Unit of measure is [deg])
	320	64	Orbit mean anomaly	DOUBLE	Orbit mean anomaly. (Unit of measure is [deg])
	384	64	Orbit mean motion	DOUBLE	Orbit mean motion. (Unit of measure is [orbits/day])
	448	64	Orbit B-star drag term	DOUBLE	Orbit B-star drag term

Table 137: Augmented SGP4 configuration Telemetry Format

ID	188		Frame Length (bytes)		13
Description	Augmented SGP4 configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Batch size	UINT	Number of GNSS measurements before computing updates TLEs
	16	32	Max time between GNSS measurements	UINT	Maximum time between GNSS measurements before resetting filters. (Unit of measure is [s])
	48	16	Max position error	UINT	Maximum position error for asgp4 to continue working. (Unit of measure is [km])
	64	32	Time gain	FLOAT	Time offset compensation gain
	96	1	Update RAAN and Inclination	BOOL	Update SGP4 RAAN and Inclination angles from GNSS
	97	1	Update Eccentricity	BOOL	Update SGP4 Eccentricity from GNSS
	98	1	Update AP and MA	BOOL	Update SGP4 Arg. Perigee and Mean Anomaly from GNSS
	99	1	Update Time	BOOL	Update SGP4 Epoch from GNSS

Table 138: ADCS satellite configuration Telemetry Format

ID	189		Frame Length (bytes)		42
Description	ADCS satellite configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Moment of inertia Ixx	FLOAT	Moment of inertia Ixx. (Unit of measure is [kg.m^2])
	32	32	Moment of inertia Iyy	FLOAT	Moment of inertia Iyy. (Unit of measure is [kg.m^2])
	64	32	Moment of inertia Izz	FLOAT	Moment of inertia Izz. (Unit of measure is [kg.m^2])
	96	32	Product of inertia Ixy	FLOAT	Product of inertia Ixy. (Unit of measure is [kg.m^2])
	128	32	Product of inertia Ixz	FLOAT	Product of inertia Ixz. (Unit of measure is [kg.m^2])
	160	32	Product of inertia Iyz	FLOAT	Product of inertia Iyz. (Unit of measure is [kg.m^2])
	192	16	Sun-pointing body vector X component	INT	Sun-pointing body vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	208	16	Sun-pointing body vector Y component	INT	Sun-pointing body vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	224	16	Sun-pointing body vector Z component	INT	Sun-pointing body vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	240	16	Target-tracking body vector X component	INT	Target-tracking body vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	256	16	Target-tracking body vector Y component	INT	Target-tracking body vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	272	16	Target-tracking body vector Z component	INT	Target-tracking body vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	288	16	Satellite-tracking body vector X component	INT	Satellite-tracking body vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	304	16	Satellite-tracking body vector Y component	INT	Satellite-tracking body vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	320	16	Satellite-tracking body vector Z component	INT	Satellite-tracking body vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

Table 139: ADCS controller configuration Telemetry Format

ID	190		Frame Length (bytes)		86
Description	ADCS controller configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Default control mode	ENUM	Default control mode. Possible values are in Table 25
	8	32	Detumbling damping gain	FLOAT	Detumbling damping gain (Kd)
	40	32	Sun-spin control gain - sunlit part	FLOAT	Sun-spin control gain (KDsun)
	72	32	Sun-spin control gain - eclipse part	FLOAT	Sun-spin control gain (KDecl)
	104	32	Detumbling spin gain	FLOAT	Detumbling spin gain (Ks)
	136	32	Fast B-dot detumbling gain	FLOAT	Fast B-dot detumbling gain (Kdf)
	168	32	Y-momentum nutation damping gain	FLOAT	Y-momentum nutation damping gain (Kn)
	200	32	Y-momentum nutation damping quaternion gain	FLOAT	Y-momentum nutation damping quaternion gain (Kq)
	232	32	X-axis GG nutation damping quaternion gain	FLOAT	X-axis GG nutation damping quaternion gain (Kqx)
	264	32	Y-axis GG nutation damping quaternion gain	FLOAT	Y-axis GG nutation damping quaternion gain (Kqy)
	296	32	Z-axis GG nutation damping quaternion gain	FLOAT	Z-axis GG nutation damping quaternion gain (Kqz)
	328	32	Wheel desaturation control gain	FLOAT	Wheel momentum dumping magnetic control gain (Kh)
	360	32	Y-momentum proportional gain	FLOAT	Y-momentum proportional gain (Kp1)
	392	32	Y-momentum derivative gain	FLOAT	Y-momentum derivative gain (Kd1)
	424	32	RWheel proportional gain	FLOAT	RWheel proportional gain (Kp2)
	456	32	RWheel derivative gain	FLOAT	RWheel derivative gain (Kd2)
	488	32	Tracking proportional gain	FLOAT	Tracking proportional gain (Kp3)
	520	32	Tracking derivative gain	FLOAT	Tracking derivative gain (Kd3)
	552	32	Tracking integral gain	FLOAT	Tracking integral gain (Ki3)
	584	32	Reference spin rate	FLOAT	Reference spin rate (wy-ref). (Unit of measure is [degps])
	616	32	Reference wheel momentum	FLOAT	Reference wheel momentum (H-ref). Must always be smaller than 0. (Unit of measure is [Nms])
	648	32	Y-wheel bias momentum during XYZ-control	FLOAT	Y-wheel bias momentum during XYZ-control (Hy-bias). (Unit of measure is [Nms])
	680	1	Yaw compensation for earth rotation	BOOL	Perform yaw compensation for earth rotation in 3-axis RPY control
	681	7	Reserved	PADDING	Reserved.

Table 140: Mag0 magnetometer in-orbit calibration configuration Telemetry Format

ID	191		Frame Length (bytes)		24
Description	Mag0 magnetometer in-orbit calibration configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Magnetometer channel 1 offset	INT	Magnetometer channel 1 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	16	16	Magnetometer channel 2 offset	INT	Magnetometer channel 2 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	32	16	Magnetometer channel 3 offset	INT	Magnetometer channel 3 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	48	16	Magnetometer sensitivity matrix S11	INT	Magnetometer sensitivity matrix S11. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	64	16	Magnetometer sensitivity matrix S22	INT	Magnetometer sensitivity matrix S22. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	80	16	Magnetometer sensitivity matrix S33	INT	Magnetometer sensitivity matrix S33. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	96	16	Magnetometer sensitivity matrix S12	INT	Magnetometer sensitivity matrix S12. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	112	16	Magnetometer sensitivity matrix S13	INT	Magnetometer sensitivity matrix S13. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	128	16	Magnetometer sensitivity matrix S21	INT	Magnetometer sensitivity matrix S21. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	144	16	Magnetometer sensitivity matrix S23	INT	Magnetometer sensitivity matrix S23. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	160	16	Magnetometer sensitivity matrix S31	INT	Magnetometer sensitivity matrix S31. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	176	16	Magnetometer sensitivity matrix S32	INT	Magnetometer sensitivity matrix S32. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

Table 141: Default mode configuration Telemetry Format

ID	192		Frame Length (bytes)		4
Description	Default mode configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Default ADCS run mode	ENUM	Default ADCS run mode. Possible values are in Table 23
	8	8	Default ADCS operational state	ENUM	Default ADCS operational state. Possible values are in Table 34
	16	8	Default control mode in OpStateSafe	ENUM	Default control mode in OpStateSafe. Possible values are in Table 25
	24	8	Default control mode in OpStateAuto	ENUM	Default control mode in OpStateAuto. Possible values are in Table 25

Table 142: Mounting configuration Telemetry Format

ID	193		Frame Length (bytes)		98
Description	Mounting configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	StackX mounting	ENUM	StackX mounting. Possible values are in Table 36
	8	8	StackY mounting	ENUM	StackY mounting. Possible values are in Table 36
	16	8	StackZ mounting	ENUM	StackZ mounting. Possible values are in Table 36
	24	8	MTQ0 mounting	ENUM	MTQ0 mounting. Possible values are in Table 36
	32	8	MTQ1 mounting	ENUM	MTQ1 mounting. Possible values are in Table 36
	40	8	MTQ2 mounting	ENUM	MTQ2 mounting. Possible values are in Table 36
	48	8	Wheel0 mounting	ENUM	Wheel0 mounting. Possible values are in Table 36
	56	8	Wheel1 mounting	ENUM	Wheel1 mounting. Possible values are in Table 36
	64	8	Wheel2 mounting	ENUM	Wheel2 mounting. Possible values are in Table 36
	72	8	Wheel3 mounting	ENUM	Wheel3 mounting. Possible values are in Table 36
	80	16	Pyramid RWL mounting alpha angle	INT	Pyramid RWL mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	96	16	Pyramid RWL mounting beta angle	INT	Pyramid RWL mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	112	16	Pyramid RWL mounting gamma angle	INT	Pyramid RWL mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	128	8	CSS0 mounting	ENUM	CSS0 mounting. Possible values are in Table 36
	136	8	CSS1 mounting	ENUM	CSS1 mounting. Possible values are in Table 36
	144	8	CSS2 mounting	ENUM	CSS2 mounting. Possible values are in Table 36
	152	8	CSS3 mounting	ENUM	CSS3 mounting. Possible values are in Table 36
	160	8	CSS4 mounting	ENUM	CSS4 mounting. Possible values are in Table 36
	168	8	CSS5 mounting	ENUM	CSS5 mounting. Possible values are in Table 36
	176	8	CSS6 mounting	ENUM	CSS6 mounting. Possible values are in Table 36
	184	8	CSS7 mounting	ENUM	CSS7 mounting. Possible values are in Table 36
	192	8	CSS8 mounting	ENUM	CSS8 mounting. Possible values are in Table 36
	200	8	CSS9 mounting	ENUM	CSS9 mounting. Possible values are in Table 36
	208	16	FSS0 mounting alpha angle	INT	FSS0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	224	16	FSS0 mounting beta angle	INT	FSS0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	240	16	FSS0 mounting gamma angle	INT	FSS0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	256	16	FSS1 mounting alpha angle	INT	FSS1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	272	16	FSS1 mounting beta angle	INT	FSS1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	288	16	FSS1 mounting gamma angle	INT	FSS1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	304	16	FSS2 mounting alpha angle	INT	FSS2 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	320	16	FSS2 mounting beta angle	INT	FSS2 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	336	16	FSS2 mounting gamma angle	INT	FSS2 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	352	16	FSS3 mounting alpha angle	INT	FSS3 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	368	16	FSS3 mounting beta angle	INT	FSS3 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	384	16	FSS3 mounting gamma angle	INT	FSS3 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	400	16	HSS0 mounting alpha angle	INT	HSS0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	416	16	HSS0 mounting beta angle	INT	HSS0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	432	16	HSS0 mounting gamma angle	INT	HSS0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	448	16	HSS1 mounting alpha angle	INT	HSS1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	464	16	HSS1 mounting beta angle	INT	HSS1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	480	16	HSS1 mounting gamma angle	INT	HSS1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	496	16	MAG0 mounting alpha angle	INT	MAG0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	512	16	MAG0 mounting beta angle	INT	MAG0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	528	16	MAG0 mounting gamma angle	INT	MAG0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	544	16	MAG1 mounting alpha angle	INT	MAG1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	560	16	MAG1 mounting beta angle	INT	MAG1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	576	16	MAG1 mounting gamma angle	INT	MAG1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	592	16	STR0 mounting alpha angle	INT	STR0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	608	16	STR0 mounting beta angle	INT	STR0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	624	16	STR0 mounting gamma angle	INT	STR0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	640	16	STR1 mounting alpha angle	INT	STR1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	656	16	STR1 mounting beta angle	INT	STR1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	672	16	STR1 mounting gamma angle	INT	STR1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	688	16	ExtSensor0 mounting alpha angle	INT	ExtSensor0 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	704	16	ExtSensor0 mounting beta angle	INT	ExtSensor0 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	720	16	ExtSensor0 mounting gamma angle	INT	ExtSensor0 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	736	16	ExtSensor1 mounting alpha angle	INT	ExtSensor1 mounting alpha angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	752	16	ExtSensor1 mounting beta angle	INT	ExtSensor1 mounting beta angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	768	16	ExtSensor1 mounting gamma angle	INT	ExtSensor1 mounting gamma angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

Table 143: Mag1 magnetometer in-orbit calibration configuration Telemetry Format

ID	194		Frame Length (bytes)		24
Description	Mag1 magnetometer in-orbit calibration configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Magnetometer channel 1 offset	INT	Magnetometer channel 1 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	16	16	Magnetometer channel 2 offset	INT	Magnetometer channel 2 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	32	16	Magnetometer channel 3 offset	INT	Magnetometer channel 3 offset. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	48	16	Magnetometer sensitivity matrix S11	INT	Magnetometer sensitivity matrix S11. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	64	16	Magnetometer sensitivity matrix S22	INT	Magnetometer sensitivity matrix S22. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	80	16	Magnetometer sensitivity matrix S33	INT	Magnetometer sensitivity matrix S33. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	96	16	Magnetometer sensitivity matrix S12	INT	Magnetometer sensitivity matrix S12. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	112	16	Magnetometer sensitivity matrix S13	INT	Magnetometer sensitivity matrix S13. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	128	16	Magnetometer sensitivity matrix S21	INT	Magnetometer sensitivity matrix S21. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	144	16	Magnetometer sensitivity matrix S23	INT	Magnetometer sensitivity matrix S23. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	160	16	Magnetometer sensitivity matrix S31	INT	Magnetometer sensitivity matrix S31. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	176	16	Magnetometer sensitivity matrix S32	INT	Magnetometer sensitivity matrix S32. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001

Table 144: ADCS estimator configuration Telemetry Format

ID	195		Frame Length (bytes)		40
Description	ADCS estimator configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Default main estimator mode	ENUM	Default main estimator mode. Possible values are in Table 39
	8	8	Default backup estimator mode	ENUM	Default backup estimator mode. Possible values are in Table 39
	16	32	MAG measurement noise	FLOAT	Magnetometer measurement noise
	48	32	CSS measurement noise	FLOAT	Coarse sun sensor measurement noise
	80	32	FSS measurement noise	FLOAT	Fine sun sensor measurement noise
	112	32	HSS measurement noise	FLOAT	Horizon sensor measurement noise
	144	32	STR measurement noise	FLOAT	Star tracker measurement noise
	176	32	Magnetometer RKF system noise	FLOAT	Magnetometer RKF system noise
	208	32	EKF system noise	FLOAT	EKF system noise
	240	32	Nutation Epsilon correction	FLOAT	Polar nutation Epsilon correction. (Unit of measure is [rad])
	272	32	Nutation Psi correction	FLOAT	Polar nutation Psi correction. (Unit of measure is [rad])
	304	1	Use FSS in EKF	BOOL	Use fine sun sensor measurements in EKF
	305	1	Use CSS in EKF	BOOL	Use coarse sun sensor measurements in EKF
	306	1	Use HSS in EKF	BOOL	Use horizon sensor measurements in EKF
	307	1	Use STR in EKF	BOOL	Use star tracker measurements in EKF
	308	4	Triad Vector 1	ENUM	Vector 1 selection for Triad. Possible values are in Table 40
	312	4	Triad Vector 2	ENUM	Vector 2 selection for Triad. Possible values are in Table 40

Table 145: Satellite orbit parameter configuration Telemetry Format

ID	196		Frame Length (bytes)		64
Description	Satellite orbit parameter configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	64	Orbit epoch	DOUBLE	Orbit epoch. (Unit of measure is [yyddd.ssssssss])
	64	64	Orbit inclination	DOUBLE	Orbit inclination. (Unit of measure is [deg])
	128	64	Orbit RAAN	DOUBLE	Orbit RAAN. (Unit of measure is [deg])
	192	64	Orbit eccentricity	DOUBLE	Orbit eccentricity
	256	64	Orbit argument of perigee	DOUBLE	Orbit argument of perigee. (Unit of measure is [deg])
	320	64	Orbit mean anomaly	DOUBLE	Orbit mean anomaly. (Unit of measure is [deg])
	384	64	Orbit mean motion	DOUBLE	Orbit mean motion. (Unit of measure is [orbits/day])
	448	64	Orbit B-star drag term	DOUBLE	Orbit B-star drag term

Table 146: Node selection configuration Telemetry Format

ID	197		Frame Length (bytes)		8
Description	Node selection configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	RWL selection flags	UINT	RWL selection flags
	8	8	MAG selection flags	UINT	MAG selection flags
	16	8	FSS selection flags	UINT	FSS selection flags
	24	8	HSS selection flags	UINT	HSS selection flags
	32	8	GYR selection flags	UINT	GYR selection flags
	40	8	STR selection flags	UINT	STR selection flags
	48	8	GNSS selection flags	UINT	GNSS selection flags
	56	8	External sensor selection flags	UINT	External sensor selection flags

Table 147: Magnetorquer configuration Telemetry Format

ID	198		Frame Length (bytes)		20
Description	Magnetorquer configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	MTQ0 maximum dipole moment	FLOAT	MTQ0 maximum dipole moment. (Unit of measure is [A.m^2])
	32	32	MTQ1 maximum dipole moment	FLOAT	MTQ1 maximum dipole moment. (Unit of measure is [A.m^2])
	64	32	MTQ2 maximum dipole moment	FLOAT	MTQ2 maximum dipole moment. (Unit of measure is [A.m^2])
	96	16	Maximum magnetorquer on-time	UINT	Maximum magnetorquer on-time. (Unit of measure is [ms])
	112	16	Minimum magnetorquer on-time	UINT	Minimum magnetorquer on-time. (Unit of measure is [ms])
	128	32	Magnetic control filter factor	FLOAT	LPF factor for magnetorquer commands. Set to zero for no filtering

Table 148: Estimation mode Telemetry Format

ID	199		Frame Length (bytes)		2
Description	Estimation mode
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Main estimator mode	ENUM	Main estimator mode. Possible values are in Table 39
	8	8	Backup estimator mode	ENUM	Backup estimator mode. Possible values are in Table 39

Table 149: ADCS operational state Telemetry Format

ID	200		Frame Length (bytes)		1
Description	ADCS operational state
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	ADCS operational state	ENUM	ADCS operational state. Possible values are in Table 34

Table 150: Simulation raw sensor telemetry Telemetry Format

ID	201		Frame Length (bytes)		277
Description	Simulation raw sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	FSS0 raw centroid X	INT	FSS0 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	80	16	FSS0 raw centroid Y	INT	FSS0 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	96	16	FSS1 raw centroid X	INT	FSS1 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	112	16	FSS1 raw centroid Y	INT	FSS1 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	128	16	FSS2 raw centroid X	INT	FSS2 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	144	16	FSS2 raw centroid Y	INT	FSS2 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	160	16	FSS3 raw centroid X	INT	FSS3 raw centroid X. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	176	16	FSS3 raw centroid Y	INT	FSS3 raw centroid Y. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.01
	192	16	CSS0 raw measurement	UINT	CSS0 raw measurement
	208	16	CSS1 raw measurement	UINT	CSS1 raw measurement
	224	16	CSS2 raw measurement	UINT	CSS2 raw measurement
	240	16	CSS3 raw measurement	UINT	CSS3 raw measurement
	256	16	CSS4 raw measurement	UINT	CSS4 raw measurement
	272	16	CSS5 raw measurement	UINT	CSS5 raw measurement
	288	16	CSS6 raw measurement	UINT	CSS6 raw measurement
	304	16	CSS7 raw measurement	UINT	CSS7 raw measurement
	320	16	CSS8 raw measurement	UINT	CSS8 raw measurement
	336	16	CSS9 raw measurement	UINT	CSS9 raw measurement
	352	16	MAG0 raw vector X component	INT	MAG0 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	368	16	MAG0 raw vector Y component	INT	MAG0 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	384	16	MAG0 raw vector Z component	INT	MAG0 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	400	16	MAG1 raw vector X component	INT	MAG1 raw vector X component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	416	16	MAG1 raw vector Y component	INT	MAG1 raw vector Y component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	432	16	MAG1 raw vector Z component	INT	MAG1 raw vector Z component. Formatted value is obtained using the formula: (formatted value) [uT] = RAWVAL*0.01
	448	32	GYR0 raw rate X component	FLOAT	GYR0 raw rate X component. (Unit of measure is [degps])
	480	32	GYR0 raw rate Y component	FLOAT	GYR0 raw rate Y component. (Unit of measure is [degps])
	512	32	GYR0 raw rate Z component	FLOAT	GYR0 raw rate Z component. (Unit of measure is [degps])
	544	32	GYR1 raw rate X component	FLOAT	GYR1 raw rate X component. (Unit of measure is [degps])
	576	32	GYR1 raw rate Y component	FLOAT	GYR1 raw rate Y component. (Unit of measure is [degps])
	608	32	GYR1 raw rate Z component	FLOAT	GYR1 raw rate Z component. (Unit of measure is [degps])
	640	16	HSS0 raw elevation angle	INT	HSS0 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	656	16	HSS0 raw rotation angle	INT	HSS0 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	672	16	HSS1 raw elevation angle	INT	HSS1 raw elevation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	688	16	HSS1 raw rotation angle	INT	HSS1 raw rotation angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	704	16	STR0 measured vector 0 X component	INT	STR0 measured vector 0 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	720	16	STR0 measured vector 0 Y component	INT	STR0 measured vector 0 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	736	16	STR0 measured vector 0 Z component	INT	STR0 measured vector 0 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	752	16	STR0 measured vector 1 X component	INT	STR0 measured vector 1 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	768	16	STR0 measured vector 1 Y component	INT	STR0 measured vector 1 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	784	16	STR0 measured vector 1 Z component	INT	STR0 measured vector 1 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	800	16	STR0 measured vector 2 X component	INT	STR0 measured vector 2 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	816	16	STR0 measured vector 2 Y component	INT	STR0 measured vector 2 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	832	16	STR0 measured vector 2 Z component	INT	STR0 measured vector 2 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	848	16	STR0 modelled vector 0 X component	INT	STR0 modelled vector 0 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	864	16	STR0 modelled vector 0 Y component	INT	STR0 modelled vector 0 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	880	16	STR0 modelled vector 0 Z component	INT	STR0 modelled vector 0 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	896	16	STR0 modelled vector 1 X component	INT	STR0 modelled vector 1 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	912	16	STR0 modelled vector 1 Y component	INT	STR0 modelled vector 1 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	928	16	STR0 modelled vector 1 Z component	INT	STR0 modelled vector 1 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	944	16	STR0 modelled vector 2 X component	INT	STR0 modelled vector 2 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	960	16	STR0 modelled vector 2 Y component	INT	STR0 modelled vector 2 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	976	16	STR0 modelled vector 2 Z component	INT	STR0 modelled vector 2 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	992	16	STR0 measured quaternion Q0 (sensor to IRC frame)	INT	STR0 measured quaternion Q0 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1008	16	STR0 measured quaternion Q1 (sensor to IRC frame)	INT	STR0 measured quaternion Q1 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1024	16	STR0 measured quaternion Q2 (sensor to IRC frame)	INT	STR0 measured quaternion Q2 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1040	16	STR0 measured quaternion Q3 (sensor to IRC frame)	INT	STR0 measured quaternion Q3 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1056	8	STR0 number of identified stars	UINT	STR0 number of identified stars
	1064	16	STR1 measured vector 0 X component	INT	STR1 measured vector 0 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1080	16	STR1 measured vector 0 Y component	INT	STR1 measured vector 0 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1096	16	STR1 measured vector 0 Z component	INT	STR1 measured vector 0 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1112	16	STR1 measured vector 1 X component	INT	STR1 measured vector 1 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1128	16	STR1 measured vector 1 Y component	INT	STR1 measured vector 1 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1144	16	STR1 measured vector 1 Z component	INT	STR1 measured vector 1 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1160	16	STR1 measured vector 2 X component	INT	STR1 measured vector 2 X component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1176	16	STR1 measured vector 2 Y component	INT	STR1 measured vector 2 Y component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1192	16	STR1 measured vector 2 Z component	INT	STR1 measured vector 2 Z component (sensor frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1208	16	STR1 modelled vector 0 X component	INT	STR1 modelled vector 0 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1224	16	STR1 modelled vector 0 Y component	INT	STR1 modelled vector 0 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1240	16	STR1 modelled vector 0 Z component	INT	STR1 modelled vector 0 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1256	16	STR1 modelled vector 1 X component	INT	STR1 modelled vector 1 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1272	16	STR1 modelled vector 1 Y component	INT	STR1 modelled vector 1 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1288	16	STR1 modelled vector 1 Z component	INT	STR1 modelled vector 1 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1304	16	STR1 modelled vector 2 X component	INT	STR1 modelled vector 2 X component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1320	16	STR1 modelled vector 2 Y component	INT	STR1 modelled vector 2 Y component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1336	16	STR1 modelled vector 2 Z component	INT	STR1 modelled vector 2 Z component (IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1352	16	STR1 measured quaternion Q0 (sensor to IRC frame)	INT	STR1 measured quaternion Q0 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1368	16	STR1 measured quaternion Q1 (sensor to IRC frame)	INT	STR1 measured quaternion Q1 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1384	16	STR1 measured quaternion Q2 (sensor to IRC frame)	INT	STR1 measured quaternion Q2 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1400	16	STR1 measured quaternion Q3 (sensor to IRC frame)	INT	STR1 measured quaternion Q3 (sensor to IRC frame). Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	1416	8	STR1 number of identified stars	UINT	STR1 number of identified stars
	1424	32	GNSS Time integer seconds	UINT	GNSS Unix time integer seconds. (Unit of measure is [s])
	1456	32	GNSS Time nanoseconds	UINT	GNSS Unix time fraction nanoseconds. (Unit of measure is [ns])
	1488	32	Satellite position vector X component (GNSS frame)	INT	Satellite position vector X component (GNSS frame). (Unit of measure is [cm])
	1520	32	Satellite position vector Y component (GNSS frame)	INT	Satellite position vector Y component (GNSS frame). (Unit of measure is [cm])
	1552	32	Satellite position vector Z component (GNSS frame)	INT	Satellite position vector Z component (GNSS frame). (Unit of measure is [cm])
	1584	32	Satellite velocity vector X component (GNSS frame)	INT	Satellite velocity vector X component (GNSS frame). (Unit of measure is [cm/s])
	1616	32	Satellite velocity vector Y component (GNSS frame)	INT	Satellite velocity vector Y component (GNSS frame). (Unit of measure is [cm/s])
	1648	32	Satellite velocity vector Z component (GNSS frame)	INT	Satellite velocity vector Z component (GNSS frame). (Unit of measure is [cm/s])
	1680	32	ExtSensor0 raw measurement float 0	FLOAT	ExtSensor0 raw measurement float 0
	1712	32	ExtSensor0 raw measurement float 1	FLOAT	ExtSensor0 raw measurement float 1
	1744	32	ExtSensor0 raw measurement float 2	FLOAT	ExtSensor0 raw measurement float 2
	1776	32	ExtSensor0 raw measurement float 3	FLOAT	ExtSensor0 raw measurement float 3
	1808	32	ExtSensor0 raw measurement float 4	FLOAT	ExtSensor0 raw measurement float 4
	1840	32	ExtSensor0 raw measurement float 5	FLOAT	ExtSensor0 raw measurement float 5
	1872	32	ExtSensor1 raw measurement float 0	FLOAT	ExtSensor1 raw measurement float 0
	1904	32	ExtSensor1 raw measurement float 1	FLOAT	ExtSensor1 raw measurement float 1
	1936	32	ExtSensor1 raw measurement float 2	FLOAT	ExtSensor1 raw measurement float 2
	1968	32	ExtSensor1 raw measurement float 3	FLOAT	ExtSensor1 raw measurement float 3
	2000	32	ExtSensor1 raw measurement float 4	FLOAT	ExtSensor1 raw measurement float 4
	2032	32	ExtSensor1 raw measurement float 5	FLOAT	ExtSensor1 raw measurement float 5
	2064	32	RWL0 raw speed measurement	FLOAT	RWL0 raw speed measurement. (Unit of measure is [rpm])
	2096	32	RWL1 raw speed measurement	FLOAT	RWL1 raw speed measurement. (Unit of measure is [rpm])
	2128	32	RWL2 raw speed measurement	FLOAT	RWL2 raw speed measurement. (Unit of measure is [rpm])
	2160	32	RWL3 raw speed measurement	FLOAT	RWL3 raw speed measurement. (Unit of measure is [rpm])
	2192	1	FSS0 valid flag	BOOL	FSS0 valid flag
	2193	1	FSS1 valid flag	BOOL	FSS1 valid flag
	2194	1	FSS2 valid flag	BOOL	FSS2 valid flag
	2195	1	FSS3 valid flag	BOOL	FSS3 valid flag
	2196	1	CSS valid flag	BOOL	CSS valid flag
	2197	1	MAG0 valid flag	BOOL	MAG0 valid flag
	2198	1	MAG1 valid flag	BOOL	MAG1 valid flag
	2199	1	GYR0 valid flag	BOOL	GYR0 valid flag
	2200	1	GYR1 valid flag	BOOL	GYR1 valid flag
	2201	1	HSS0 valid flag	BOOL	HSS0 valid flag
	2202	1	HSS1 valid flag	BOOL	HSS1 valid flag
	2203	1	STR0 valid flag	BOOL	STR0 valid flag
	2204	1	STR1 valid flag	BOOL	STR1 valid flag
	2205	1	GNSS valid flag	BOOL	GNSS valid flag
	2206	1	GNSS new nav message flag	BOOL	GNSS new flag
	2207	1	ExtSensor0 valid flag	BOOL	ExtSensor0 valid flag
	2208	1	ExtSensor1 valid flag	BOOL	ExtSensor1 valid flag
	2209	1	RWL0 valid flag	BOOL	RWL0 valid flag
	2210	1	RWL1 valid flag	BOOL	RWL1 valid flag
	2211	1	RWL2 valid flag	BOOL	RWL2 valid flag
	2212	1	RWL3 valid flag	BOOL	RWL3 valid flag

Table 151: OpenLoopCommandRwl Telemetry Format

ID	202		Frame Length (bytes)		16
Description	OpenLoopCommandRwl
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	RWL0 open-loop speed command	FLOAT	RWL0 open-loop speed command
	32	32	RWL1 open-loop speed command	FLOAT	RWL1 open-loop speed command
	64	32	RWL2 open-loop speed command	FLOAT	RWL2 open-loop speed command
	96	32	RWL3 open-loop speed command	FLOAT	RWL3 open-loop speed command

Table 152: Raw CSS sensor telemetry Telemetry Format

ID	203		Frame Length (bytes)		19
Description	Raw CSS sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	8	CSS0 raw measurement	UINT	CSS0 raw measurement
	72	8	CSS1 raw measurement	UINT	CSS1 raw measurement
	80	8	CSS2 raw measurement	UINT	CSS2 raw measurement
	88	8	CSS3 raw measurement	UINT	CSS3 raw measurement
	96	8	CSS4 raw measurement	UINT	CSS4 raw measurement
	104	8	CSS5 raw measurement	UINT	CSS5 raw measurement
	112	8	CSS6 raw measurement	UINT	CSS6 raw measurement
	120	8	CSS7 raw measurement	UINT	CSS7 raw measurement
	128	8	CSS8 raw measurement	UINT	CSS8 raw measurement
	136	8	CSS9 raw measurement	UINT	CSS9 raw measurement
	144	1	CSS valid flag	BOOL	CSS valid flag

Table 153: Raw GYR sensor telemetry Telemetry Format

ID	204		Frame Length (bytes)		33
Description	Raw GYRO sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	GYR0 raw rate X component	FLOAT	GYR0 raw rate X component. (Unit of measure is [degps])
	96	32	GYR0 raw rate Y component	FLOAT	GYR0 raw rate Y component. (Unit of measure is [degps])
	128	32	GYR0 raw rate Z component	FLOAT	GYR0 raw rate Z component. (Unit of measure is [degps])
	160	32	GYR1 raw rate X component	FLOAT	GYR1 raw rate X component. (Unit of measure is [degps])
	192	32	GYR1 raw rate Y component	FLOAT	GYR1 raw rate Y component. (Unit of measure is [degps])
	224	32	GYR1 raw rate Z component	FLOAT	GYR1 raw rate Z component. (Unit of measure is [degps])
	256	1	GYR0 valid flag	BOOL	GYR0 valid flag
	257	1	GYR1 valid flag	BOOL	GYR1 valid flag

Table 154: Raw RWL sensor telemetry Telemetry Format

ID	205		Frame Length (bytes)		25
Description	Raw RWL sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	RWL0 measured speed	FLOAT	RWL0 measured speed. (Unit of measure is [rpm])
	96	32	RWL1 measured speed	FLOAT	RWL1 measured speed. (Unit of measure is [rpm])
	128	32	RWL2 measured speed	FLOAT	RWL2 measured speed. (Unit of measure is [rpm])
	160	32	RWL3 measured speed	FLOAT	RWL3 measured speed. (Unit of measure is [rpm])
	192	1	RWL0 valid flag	BOOL	RWL0 valid flag
	193	1	RWL1 valid flag	BOOL	RWL1 valid flag
	194	1	RWL2 valid flag	BOOL	RWL2 valid flag
	195	1	RWL3 valid flag	BOOL	RWL3 valid flag

Table 155: Calibrated CSS sensor telemetry Telemetry Format

ID	206		Frame Length (bytes)		15
Description	Calibrated CSS sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	CSS calibrated unit vector X component	INT	CSS calibrated unit vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	80	16	CSS calibrated unit vector Y component	INT	CSS calibrated unit vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	96	16	CSS calibrated unit vector Z component	INT	CSS calibrated unit vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	112	1	CSS valid flag	BOOL	CSS valid flag

Table 156: Calibrated GYR sensor telemetry Telemetry Format

ID	207		Frame Length (bytes)		57
Description	Calibrated GYRO sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	GYR0 calibrated rate X component	FLOAT	GYR0 calibrated rate X component. (Unit of measure is [degps])
	96	32	GYR0 calibrated rate Y component	FLOAT	GYR0 calibrated rate Y component. (Unit of measure is [degps])
	128	32	GYR0 calibrated rate Z component	FLOAT	GYR0 calibrated rate Z component. (Unit of measure is [degps])
	160	32	GYR1 calibrated rate X component	FLOAT	GYR1 calibrated rate X component. (Unit of measure is [degps])
	192	32	GYR1 calibrated rate Y component	FLOAT	GYR1 calibrated rate Y component. (Unit of measure is [degps])
	224	32	GYR1 calibrated rate Z component	FLOAT	GYR1 calibrated rate Z component. (Unit of measure is [degps])
	256	32	EXTGYR0 calibrated rate X component	FLOAT	EXTGYR0 calibrated rate X component. (Unit of measure is [degps])
	288	32	EXTGYR0 calibrated rate Y component	FLOAT	EXTGYR0 calibrated rate Y component. (Unit of measure is [degps])
	320	32	EXTGYR0 calibrated rate Z component	FLOAT	EXTGYR0 calibrated rate Z component. (Unit of measure is [degps])
	352	32	EXTGYR1 calibrated rate X component	FLOAT	EXTGYR1 calibrated rate X component. (Unit of measure is [degps])
	384	32	EXTGYR1 calibrated rate Y component	FLOAT	EXTGYR1 calibrated rate Y component. (Unit of measure is [degps])
	416	32	EXTGYR1 calibrated rate Z component	FLOAT	EXTGYR1 calibrated rate Z component. (Unit of measure is [degps])
	448	1	GYR0 valid flag	BOOL	GYR0 valid flag
	449	1	GYR1 valid flag	BOOL	GYR1 valid flag
	450	1	EXTGYR0 valid flag	BOOL	EXTGYR0 valid flag
	451	1	EXTGYR1 valid flag	BOOL	EXTGYR1 valid flag

Table 157: Calibrated STR sensor telemetry Telemetry Format

ID	208		Frame Length (bytes)		81
Description	Calibrated STR sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	STR0 measured body vector 0 X component	INT	STR0 measured body vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	80	16	STR0 measured body vector 0 Y component	INT	STR0 measured body vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	96	16	STR0 measured body vector 0 Z component	INT	STR0 measured body vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	112	16	STR0 measured body vector 1 X component	INT	STR0 measured body vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	128	16	STR0 measured body vector 1 Y component	INT	STR0 measured body vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	144	16	STR0 measured body vector 1 Z component	INT	STR0 measured body vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	160	16	STR0 measured body vector 2 X component	INT	STR0 measured body vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	176	16	STR0 measured body vector 2 Y component	INT	STR0 measured body vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	192	16	STR0 measured body vector 2 Z component	INT	STR0 measured body vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	208	16	STR0 modelled ORC vector 0 X component	INT	STR0 modelled ORC vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	224	16	STR0 modelled ORC vector 0 Y component	INT	STR0 modelled ORC vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	240	16	STR0 modelled ORC vector 0 Z component	INT	STR0 modelled ORC vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	256	16	STR0 modelled ORC vector 1 X component	INT	STR0 modelled ORC vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	272	16	STR0 modelled ORC vector 1 Y component	INT	STR0 modelled ORC vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	288	16	STR0 modelled ORC vector 1 Z component	INT	STR0 modelled ORC vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	304	16	STR0 modelled ORC vector 2 X component	INT	STR0 modelled ORC vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	320	16	STR0 modelled ORC vector 2 Y component	INT	STR0 modelled ORC vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	336	16	STR0 modelled ORC vector 2 Z component	INT	STR0 modelled ORC vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	352	16	STR1 measured body vector 0 X component	INT	STR1 measured body vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	368	16	STR1 measured body vector 0 Y component	INT	STR1 measured body vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	384	16	STR1 measured body vector 0 Z component	INT	STR1 measured body vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	400	16	STR1 measured body vector 1 X component	INT	STR1 measured body vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	416	16	STR1 measured body vector 1 Y component	INT	STR1 measured body vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	432	16	STR1 measured body vector 1 Z component	INT	STR1 measured body vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	448	16	STR1 measured body vector 2 X component	INT	STR1 measured body vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	464	16	STR1 measured body vector 2 Y component	INT	STR1 measured body vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	480	16	STR1 measured body vector 2 Z component	INT	STR1 measured body vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	496	16	STR1 modelled ORC vector 0 X component	INT	STR1 modelled ORC vector 0 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	512	16	STR1 modelled ORC vector 0 Y component	INT	STR1 modelled ORC vector 0 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	528	16	STR1 modelled ORC vector 0 Z component	INT	STR1 modelled ORC vector 0 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	544	16	STR1 modelled ORC vector 1 X component	INT	STR1 modelled ORC vector 1 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	560	16	STR1 modelled ORC vector 1 Y component	INT	STR1 modelled ORC vector 1 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	576	16	STR1 modelled ORC vector 1 Z component	INT	STR1 modelled ORC vector 1 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	592	16	STR1 modelled ORC vector 2 X component	INT	STR1 modelled ORC vector 2 X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	608	16	STR1 modelled ORC vector 2 Y component	INT	STR1 modelled ORC vector 2 Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	624	16	STR1 modelled ORC vector 2 Z component	INT	STR1 modelled ORC vector 2 Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	640	1	STR0 valid flag	BOOL	STR0 valid flag
	641	1	STR1 valid flag	BOOL	STR1 valid flag

Table 158: Calibrated RWL sensor telemetry Telemetry Format

ID	209		Frame Length (bytes)		33
Description	Calibrated RWL sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	Wheel SBC torque vector X component	FLOAT	Wheel SBC torque vector X component. (Unit of measure is [N.m])
	96	32	Wheel SBC torque vector Y component	FLOAT	Wheel SBC torque vector Y component. (Unit of measure is [N.m])
	128	32	Wheel SBC torque vector Z component	FLOAT	Wheel SBC torque vector Z component. (Unit of measure is [N.m])
	160	32	Wheel SBC momentum vector X component	FLOAT	Wheel SBC momentum vector X component. (Unit of measure is [N.m.s])
	192	32	Wheel SBC momentum vector Y component	FLOAT	Wheel SBC momentum vector Y component. (Unit of measure is [N.m.s])
	224	32	Wheel SBC momentum vector Z component	FLOAT	Wheel SBC momentum vector Z component. (Unit of measure is [N.m.s])
	256	1	RWL valid flag	BOOL	RWL valid flag

Table 159: Main estimator telemetry Telemetry Format

ID	210		Frame Length (bytes)		71
Description	Main estimator telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	Estimated roll angle	INT	Estimated roll angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	80	16	Estimated pitch angle	INT	Estimated pitch angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	96	16	Estimated yaw angle	INT	Estimated yaw angle. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	112	16	Estimated ORC quaternion Q0	INT	Estimated ORC quaternion Q0. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	128	16	Estimated ORC quaternion Q1	INT	Estimated ORC quaternion Q1. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	144	16	Estimated ORC quaternion Q2	INT	Estimated ORC quaternion Q2. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	160	16	Estimated ORC quaternion Q3	INT	Estimated ORC quaternion Q3. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	176	16	Estimated gyro bias X component	INT	Estimated gyro bias X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001
	192	16	Estimated gyro bias Y component	INT	Estimated gyro bias Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001
	208	16	Estimated gyro bias Z component	INT	Estimated gyro bias Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.0001
	224	16	Estimated body rate (ORC) X component	INT	Estimated body rate (ORC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	240	16	Estimated body rate (ORC) Y component	INT	Estimated body rate (ORC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	256	16	Estimated body rate (ORC) Z component	INT	Estimated body rate (ORC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	272	16	Estimated body rate (IRC) X component	INT	Estimated body rate (IRC) X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	288	16	Estimated body rate (IRC) Y component	INT	Estimated body rate (IRC) Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	304	16	Estimated body rate (IRC) Z component	INT	Estimated body rate (IRC) Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.01
	320	32	Estimated gyroscopic torque X component	FLOAT	Estimated gyroscopic torque X component. (Unit of measure is [N.m])
	352	32	Estimated gyroscopic torque Y component	FLOAT	Estimated gyroscopic torque Y component. (Unit of measure is [N.m])
	384	32	Estimated gyroscopic torque Z component	FLOAT	Estimated gyroscopic torque Z component. (Unit of measure is [N.m])
	416	16	Innovation vector X component	INT	Innovation vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	432	16	Innovation vector Y component	INT	Innovation vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	448	16	Innovation vector Z component	INT	Innovation vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	464	16	StdDev of estimated rate X component	INT	StdDev of estimated rate X component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001
	480	16	StdDev of estimated rate Y component	INT	StdDev of estimated rate Y component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001
	496	16	StdDev of estimated rate Z component	INT	StdDev of estimated rate Z component. Formatted value is obtained using the formula: (formatted value) [degps] = RAWVAL*0.001
	512	16	StdDev of estimated quaternion Q0 component	INT	StdDev of estimated quaternion Q0 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	528	16	StdDev of estimated quaternion Q1 component	INT	StdDev of estimated quaternion Q1 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	544	16	StdDev of estimated quaternion Q2 component	INT	StdDev of estimated quaternion Q2 component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.001
	560	8	Active estimator mode	ENUM	Active estimator mode. Possible values are in Table 39

Table 160: Main estimator high-resolution telemetry Telemetry Format

ID	211		Frame Length (bytes)		36
Description	Main estimator high-resolution telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	Estimated ORC quaternion Q0	FLOAT	Estimated ORC quaternion Q0
	96	32	Estimated ORC quaternion Q1	FLOAT	Estimated ORC quaternion Q1
	128	32	Estimated ORC quaternion Q2	FLOAT	Estimated ORC quaternion Q2
	160	32	Estimated ORC quaternion Q3	FLOAT	Estimated ORC quaternion Q3
	192	32	Estimated body rate (ORC) X component	FLOAT	Estimated body rate (ORC) X component. (Unit of measure is [degps])
	224	32	Estimated body rate (ORC) Y component	FLOAT	Estimated body rate (ORC) Y component. (Unit of measure is [degps])
	256	32	Estimated body rate (ORC) Z component	FLOAT	Estimated body rate (ORC) Z component. (Unit of measure is [degps])

Table 161: Raw GNSS sensor telemetry Telemetry Format

ID	212		Frame Length (bytes)		52
Description	Raw GNSS sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	RTC Time (s)	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	RTC Time (ns)	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	RTC Drift (ns)	INT	Drift per second. (Unit of measure is [ns])
	96	32	Satellite ECEF position vector X component	FLOAT	Satellite ECEF position vector X component. (Unit of measure is [m])
	128	32	Satellite ECEF position vector Y component	FLOAT	Satellite ECEF position vector Y component. (Unit of measure is [m])
	160	32	Satellite ECEF position vector Z component	FLOAT	Satellite ECEF position vector Z component. (Unit of measure is [m])
	192	32	Satellite ECEF velocity vector X component	FLOAT	Satellite ECEF velocity vector X component. (Unit of measure is [m/s])
	224	32	Satellite ECEF velocity vector Y component	FLOAT	Satellite ECEF velocity vector Y component. (Unit of measure is [m/s])
	256	32	Satellite ECEF velocity vector Z component	FLOAT	Satellite ECEF velocity vector Z component. (Unit of measure is [m/s])
	288	32	GNSS-supplied unix time integer seconds	UINT	GNSS-supplied unix time integer seconds. (Unit of measure is [s])
	320	32	GNSS-supplied unix time nanoseconds	UINT	GNSS-supplied unix time nanoseconds. (Unit of measure is [ns])
	352	16	GPS week number	UINT	GPS week number
	368	32	GNSS Time of Week	UINT	GNSS Time of Week. (Unit of measure is [ms])
	400	8	GNSS UTC Offset	INT	Offset between GNSS time and UTC. (Unit of measure is [s])
	408	1	GNSS data is valid	BOOL	GNSS data is valid, but may be outdated
	409	1	GNSS has lock	BOOL	GNSS has lock, data most recent
	410	1	GNSS PPS Detected	BOOL	GNSS PPS Detected by ADCS HW

Table 162: Raw PST3S star tracker telemetry Telemetry Format

ID	213		Frame Length (bytes)		134
Description	Raw PST3S star tracker telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	8	STR0 PST3S Version	ENUM	STR0 PST3S Version. Possible values are in Table 163
	72	32	STR0 Quaternion 1	FLOAT	PST3S Quaternion 1
	104	32	STR0 Quaternion 2	FLOAT	PST3S Quaternion 2
	136	32	STR0 Quaternion 3	FLOAT	PST3S Quaternion 3
	168	32	STR0 Quaternion 4	FLOAT	PST3S Quaternion 4
	200	32	STR0 Angular Velocity X	FLOAT	PST3S Angular Valocity X. (Unit of measure is [degps])
	232	32	STR0 Angular Velocity Y	FLOAT	PST3S Angular Valocity Y. (Unit of measure is [degps])
	264	32	STR0 Angular Velocity Z	FLOAT	PST3S Angular Valocity Z. (Unit of measure is [degps])
	296	8	STR0 Rate Quality	ENUM	PST3S Rate Quality. Possible values are in Table 164
	304	32	STR0 Unix Seconds	UINT	PST3S Unix Seconds. (Unit of measure is [S])
	336	32	STR0 Unix Seconds Decimal	FLOAT	PST3S Unix Seconds Decimal. (Unit of measure is [S])
	368	8	STR0 Temperature	INT	PST3S Temperature. (Unit of measure is [C])
	376	8	STR0 Image Exposure	UINT	PST3S Image Exposure
	384	8	STR0 Image Threshold	UINT	PST3S Image Threshold
	392	8	STR0 Background Values	UINT	PST3S BackGround Values
	400	8	STR0 Internal Process Code	UINT	PST3S Internal Process Code
	408	4	STR0 CMOS Chip ID Self-test Result	ENUM	PST3S CMOS Chip ID Self-test Result. Possible values are in Table 165
	412	4	STR0 FPGA MRAM Self-test Result	ENUM	PST3S FPGA MRAM Self-test Result. Possible values are in Table 165
	416	8	STR0 Number of Extracted Stars	UINT	PST3S Number of Extracted Stars
	424	8	STR0 Operating Mode	ENUM	PST3S Operating Mode. Possible values are in Table 166
	432	8	STR0 Imaging Gain	UINT	PST3S Imaging Gain
	440	8	STR0 Minimum Navigation Stars	UINT	PST3S Minimum Navigation Stars When Quaternion is Valid
	448	4	STR0 Data Valid	ENUM	PST3S Data Valid. Possible values are in Table 167
	452	4	STR0 External Image State	ENUM	PST3S External Image State. Possible values are in Table 168
	456	8	STR0 Number of Identified Stars	UINT	PST3S Number of Identified Stars
	464	8	STR0 Device Number	UINT	PST3S Device Number
	472	8	STR0 Software Version	UINT	PST3S Software Version
	480	8	STR0 EDAC Error Count	UINT	PST3S EDAC Error Count
	488	32	STR0 Image Frame Number	UINT	PST3S Image Frame Number
	520	4	STR0 Dynamic Mode	ENUM	PST3S Dynamic Mode. Possible values are in Table 169
	524	4	STR0 SAA Mode	ENUM	PST3S SAA Mode. Possible values are in Table 170
	528	8	STR0 SAA Threshold	UINT	PST3S SAA Threshold
	536	8	STR0 Quaternion Filtering State	ENUM	PST3S Quaternion Filtering State. Possible values are in Table 171
	544	8	STR0 Four Star Capture Threshold	UINT	PST3S Four Star Capture Threshold
	552	8	STR0 Tracking Threshold	UINT	PST3S Tracking Threshold
	560	1	STR0 EDAC Switch	BOOL	PST3S EDAC Enabled/Disabled
	561	7	Reserved	PADDING	Reserved.
	568	8	STR1 PST3S Version	ENUM	STR1 PST3S Version. Possible values are in Table 163
	576	32	STR1 Quaternion 1	FLOAT	PST3S Quaternion 1
	608	32	STR1 Quaternion 2	FLOAT	PST3S Quaternion 2
	640	32	STR1 Quaternion 3	FLOAT	PST3S Quaternion 3
	672	32	STR1 Quaternion 4	FLOAT	PST3S Quaternion 4
	704	32	STR1 Angular Velocity X	FLOAT	PST3S Angular Valocity X. (Unit of measure is [degps])
	736	32	STR1 Angular Velocity Y	FLOAT	PST3S Angular Valocity Y. (Unit of measure is [degps])
	768	32	STR1 Angular Velocity Z	FLOAT	PST3S Angular Valocity Z. (Unit of measure is [degps])
	800	8	STR1 Rate Quality	ENUM	PST3S Rate Quality. Possible values are in Table 164
	808	32	STR1 Unix Seconds	UINT	PST3S Unix Seconds. (Unit of measure is [S])
	840	32	STR1 Unix Seconds Decimal	FLOAT	PST3S Unix Seconds Decimal. (Unit of measure is [S])
	872	8	STR1 Temperature	INT	PST3S Temperature. (Unit of measure is [C])
	880	8	STR1 Image Exposure	UINT	PST3S Image Exposure
	888	8	STR1 Image Threshold	UINT	PST3S Image Threshold
	896	8	STR1 Background Values	UINT	PST3S BackGround Values
	904	8	STR1 Internal Process Code	UINT	PST3S Internal Process Code
	912	4	STR1 CMOS Chip ID Self-test Result	ENUM	PST3S CMOS Chip ID Self-test Result. Possible values are in Table 165
	916	4	STR1 FPGA MRAM Self-test Result	ENUM	PST3S FPGA MRAM Self-test Result. Possible values are in Table 165
	920	8	STR1 Number of Extracted Stars	UINT	PST3S Number of Extracted Stars
	928	8	STR1 Operating Mode	ENUM	PST3S Operating Mode. Possible values are in Table 166
	936	8	STR1 Imaging Gain	UINT	PST3S Imaging Gain
	944	8	STR1 Minimum Navigation Stars	UINT	PST3S Minimum Navigation Stars When Quaternion is Valid
	952	4	STR1 Data Valid	ENUM	PST3S Data Valid. Possible values are in Table 167
	956	4	STR1 External Image State	ENUM	PST3S External Image State. Possible values are in Table 168
	960	8	STR1 Number of Identified Stars	UINT	PST3S Number of Identified Stars
	968	8	STR1 Device Number	UINT	PST3S Device Number
	976	8	STR1 Software Version	UINT	PST3S Software Version
	984	8	STR1 EDAC Error Count	UINT	PST3S EDAC Error Count
	992	32	STR1 Image Frame Number	UINT	PST3S Image Frame Number
	1024	4	STR1 Dynamic Mode	ENUM	PST3S Dynamic Mode. Possible values are in Table 169
	1028	4	STR1 SAA Mode	ENUM	PST3S SAA Mode. Possible values are in Table 170
	1032	8	STR1 SAA Threshold	UINT	PST3S SAA Threshold
	1040	8	STR1 Quaternion Filtering State	ENUM	PST3S Quaternion Filtering State. Possible values are in Table 171
	1048	8	STR1 Four Star Capture Threshold	UINT	PST3S Four Star Capture Threshold
	1056	8	STR1 Tracking Threshold	UINT	PST3S Tracking Threshold
	1064	1	STR1 EDAC Switch	BOOL	PST3S EDAC Enabled/Disabled
	1065	7	Reserved	PADDING	Reserved.

Table 163: Pst3sVersion Enumeration Values

Numeric Value	Name	Description
0	G2	PSST3S Version G2
1	H3	PSST3S Version H3

Table 164: Pst3sRateQuality Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid - no velocity information
1	Estimated	Velocity is estimated from previous calculations
2	Precise	Velocity is precise and calculated from attitude data

Table 165: Pst3sSelfTestResult Enumeration Values

Numeric Value	Name	Description
0	Selt-test OK	Selt-test OK
1	Self-test Error	Selt-test Error

Table 166: Pst3sOperatingModes Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid Mode
1	Normal Mode	Normal Mode
2	Fixed Threshold	Fixed Threshold
3	Self-Test	Self-Test Mode

Table 167: Pst3sDataValid Enumeration Values

Numeric Value	Name	Description
0	Gesture Data Valid	Gesture Data Valid
1	Attitude Data Valid	Attitude Data Valid

Table 168: Pst3sExtImageState Enumeration Values

Numeric Value	Name	Description
0	Invalid	External Image State Invalid for API version
1	Closed	External Image State Off
2	Open	External Image State On

Table 169: Pst3sDynamicMode Enumeration Values

Numeric Value	Name	Description
0	Invalid	Invalid Dynamic Mode. Depends on PST3S version.
1	High	High Dynamic Mode
2	Low	Low Dynamic Mode

Table 170: Pst3sSaaWorkingMode Enumeration Values

Numeric Value	Name	Description
0	Invalid	SAA Invalid. Depends on PST3S version.
1	Off	SAA Off
2	Tracking	SAA On when Tracking
3	Capture	SAA on when Capture
4	All	SAA on when Tracking and Capture

Table 171: Pst3sQuaternionFilteringGetState Enumeration Values

Numeric Value	Name	Description
0	Invalid	Filtering Invalid. Depends on PST3S version.
1	Off	Filtering Off
2	On	Filtering On

Table 172: ACP execution telemetry Telemetry Format

ID	214		Frame Length (bytes)		26
Description	ACP execution telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Time since iteration start	UINT	Time since the start of the current loop iteration. (Unit of measure is [ms])
	16	8	Current execution point	ENUM	Indicates which part of the loop is currently executing. Possible values are in Table 107
	24	16	Execution time of node sync	UINT	Execution time of node sync. (Unit of measure is [ms])
	40	16	Execution time of sensor comms	UINT	Execution time of sensor comms. (Unit of measure is [ms])
	56	16	Execution time of sensor calibration	UINT	Execution time of sensor calibration. (Unit of measure is [ms])
	72	16	Execution time of ADCS estimators	UINT	Execution time of ADCS estimators. (Unit of measure is [ms])
	88	16	Execution time of ADCS controllers	UINT	Execution time of ADCS controllers. (Unit of measure is [ms])
	104	16	Execution time of wheel comms	UINT	Execution time of wheel comms. (Unit of measure is [ms])
	120	16	Execution time of ADCS models	UINT	Execution time of ADCS models. (Unit of measure is [ms])
	136	16	Execution time of ADCS loop sync	UINT	Execution time of ADCS loop sync. (Unit of measure is [ms])
	152	16	Execution time of health service	UINT	Execution time of health service. (Unit of measure is [ms])
	168	16	Execution time of telemetry logging	UINT	Execution time of telemetry logging. (Unit of measure is [ms])
	184	16	ADCS loop offset from RTC	INT	Time offset between the ADCS loop and RTC control pulse. (Unit of measure is [ms])
	200	1	ADCS loop has started flag	BOOL	ADCS loop has started flag
	201	1	HIL synchronised	BOOL	HIL is currently synchronised
	202	6		PADDING	Reserved.

Table 173: OpenLoopCommandHxyzRW Telemetry Format

ID	215		Frame Length (bytes)		12
Description	OpenLoopCommandHxyzRW
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	X-momentum open-loop speed command	FLOAT	X-momentum open-loop speed command. (Unit of measure is [Nm])
	32	32	Y-momentum open-loop speed command	FLOAT	Y-momentum open-loop speed command. (Unit of measure is [Nm])
	64	32	Z-momentum open-loop speed command	FLOAT	Z-momentum open-loop speed command. (Unit of measure is [Nm])

Table 174: CubeComputer Health Telemetry Format

ID	216		Frame Length (bytes)		40
Description	Health telemetry for ADCS CubeComputer
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	MCU Temperature	INT	MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	MCU Current	UINT	MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	MCU Voltage Internal	UINT	MCU internal reference voltage. (Unit of measure is [mV])
	48	16	MCU Supply Voltage	UINT	MCU supply voltage. (Unit of measure is [mV])
	64	16	5V Supply Voltage	UINT	5V supply voltage. (Unit of measure is [mV])
	80	16	Battery Voltage	UINT	Battery voltage. (Unit of measure is [mV])
	96	16	Hardware Version Voltage	UINT	Hardware Version voltage. (Unit of measure is [mV])
	112	16	SRAM1 Current	UINT	SRAM1 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	128	16	SRAM2 Current	UINT	SRAM2 current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	144	16	FPGA Current 1v5	UINT	FPGA current on 1v5 rail. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	160	16	FRAM Current	UINT	FRAM current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	176	16	ADC Current	UINT	ADC current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	192	16	Flash Current	UINT	Flash memory current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	208	16	RS485 Current	UINT	RS485 driver current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	224	16	CAN Current	UINT	CAN driver current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	240	16	Gyro Current	UINT	Gyro current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	256	16	Redundant Gyro Current	UINT	Redundant gyro current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	272	1	Gyro Over Voltage	BOOL	Set if the primary gyro supply voltage has exceeded the maximum limit
	273	1	Gyro Under Voltage	BOOL	Set if the primary gyro supply voltage has exceeded the minimum limit
	274	1	Redundant Gyro Over Voltage	BOOL	Set if the redundant gyro supply voltage has exceeded the maximum limit
	275	1	Redundant Gyro Under Voltage	BOOL	Set if the redundant gyro supply voltage has exceeded the minimum limit
	276	4		PADDING	Reserved.
	280	40	Watchdog Counters	ARRAY	Bitmask representing virtual watchdog region warning counters.

Table 175: Health telemetry for CubeSense Earth Telemetry Format

ID	217		Frame Length (bytes)		20
Description	Health telemetry for CubeSense Earth
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	HSS0 MCU Temperature	INT	HSS0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	HSS0 MCU Current	UINT	HSS0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	HSS0 MCU Voltage	UINT	HSS0 MCU supply voltage. (Unit of measure is [mV])
	48	16	HSS0 Detector Temperature	UINT	HSS0 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [dK] = RAWVAL*0.1
	64	16	HSS0 Detector Current	UINT	HSS0 Detector Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	80	16	HSS1 MCU Temperature	INT	HSS1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	96	16	HSS1 MCU Current	UINT	HSS1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	112	16	HSS1 MCU Voltage	UINT	HSS1 MCU supply voltage. (Unit of measure is [mV])
	128	16	HSS1 Detector Temperature	UINT	HSS1 Detector Temperature. Formatted value is obtained using the formula: (formatted value) [dK] = RAWVAL*0.1
	144	16	HSS1 Detector Current	UINT	HSS1 Detector Current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

Table 176: Health telemetry for Reaction Wheels Telemetry Format

ID	218		Frame Length (bytes)		32
Description	Health telemetry for reaction wheels
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	RWL0 MCU Temperature	INT	RWL0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	RWL0 MCU Current	UINT	RWL0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	RWL0 Battery Voltage	UINT	RWL0 Battery supply voltage. (Unit of measure is [mV])
	48	16	RWL0 Battery Current	UINT	RWL0 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	64	16	RWL1 MCU Temperature	INT	RWL1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	80	16	RWL1 MCU Current	UINT	RWL1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	96	16	RWL1 Battery Voltage	UINT	RWL1 Battery supply voltage. (Unit of measure is [mV])
	112	16	RWL1 Battery Current	UINT	RWL1 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	128	16	RWL2 MCU Temperature	INT	RWL2 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	144	16	RWL2 MCU Current	UINT	RWL2 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	160	16	RWL2 Battery Voltage	UINT	RWL2 Battery supply voltage. (Unit of measure is [mV])
	176	16	RWL2 Battery Current	UINT	RWL2 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	192	16	RWL3 MCU Temperature	INT	RWL3 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	208	16	RWL3 MCU Current	UINT	RWL3 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	224	16	RWL3 Battery Voltage	UINT	RWL3 Battery supply voltage. (Unit of measure is [mV])
	240	16	RWL3 Battery Current	UINT	RWL3 Battery current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01

Table 177: Data Frame Telemetry Format

ID	219		Frame Length (bytes)		258
Description	A single frame of arbitrary data
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Frame size	UINT	The effective frame size - number of bytes in FrameBytes populated with data
	16	2048	Frame bytes	ARRAY	frame bytes

Table 178: Image Frame Information Telemetry Format

ID	220		Frame Length (bytes)		4
Description	Information about the current frame in memory
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Image frame number	UINT	number of current frame loaded into download buffer
	16	8	checksum	UINT	XOR checksum of frame loaded into download buffer
	24	1	Last frame	BOOL	Set if this is the last frame in the transfer
	25	1	Frame error	BOOL	Set if an error was encountered while processing the frame

Table 179: Mag sensing element configuration Telemetry Format

ID	221		Frame Length (bytes)		1
Description	Mag sensing element (primary/redundant) configuration
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	MAG0 sensing element	ENUM	MAG0 sensing element (primary/redundant). Possible values are in Table 50
	1	1	MAG1 sensing element	ENUM	MAG1 sensing element (primary/redundant). Possible values are in Table 50

Table 180: Health telemetry for CubeNode NSSRWL Telemetry Format

ID	225		Frame Length (bytes)		44
Description	Health telemetry for CubeNode NSSRWL
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	RWL0 MCU Temperature	INT	RWL0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	RWL0 MCU Current	UINT	RWL0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	RWL0 MCU Voltage	UINT	RWL0 MCU supply voltage. (Unit of measure is [mV])
	48	16	RWL0 5V Current	UINT	RWL0 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	64	16	RWL0 PMU Current	UINT	RWL0 PMU Current. (Unit of measure is [mA])
	80	1	RWL0 5V Overcurrent	BOOL	RWL0 5V overcurrent
	81	1	RWL0 Power Good	BOOL	RWL0 PowerGood signal
	82	1	RWL0 PMU Current Valid	BOOL	RWL0 Set if measurement was successful
	83	5		PADDING	Reserved.
	88	16	RWL1 MCU Temperature	INT	RWL1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	104	16	RWL1 MCU Current	UINT	RWL1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	120	16	RWL1 MCU Voltage	UINT	RWL1 MCU supply voltage. (Unit of measure is [mV])
	136	16	RWL1 5V Current	UINT	RWL1 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	152	16	RWL1 PMU Current	UINT	RWL1 PMU Current. (Unit of measure is [mA])
	168	1	RWL1 5V Overcurrent	BOOL	Rwl1 5V overcurrent
	169	1	RWL1 Power Good	BOOL	Rwl1 PowerGood signal
	170	1	RWL1 PMU Current Valid	BOOL	RWL1 Set if measurement was successful
	171	5		PADDING	Reserved.
	176	16	RWL2 MCU Temperature	INT	RWL2 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	192	16	RWL2 MCU Current	UINT	RWL2 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	208	16	RWL2 MCU Voltage	UINT	RWL2 MCU supply voltage. (Unit of measure is [mV])
	224	16	RWL2 5V Current	UINT	RWL2 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	240	16	RWL2 PMU Current	UINT	RWL2 PMU Current. (Unit of measure is [mA])
	256	1	RWL2 5V Overcurrent	BOOL	Rwl2 5V overcurrent
	257	1	RWL2 Power Good	BOOL	Rwl2 PowerGood signal
	258	1	RWL2 PMU Current Valid	BOOL	RWL2 Set if measurement was successful
	259	5		PADDING	Reserved.
	264	16	RWL3 MCU Temperature	INT	RWL3 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	280	16	RWL3 MCU Current	UINT	RWL3 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	296	16	RWL3 MCU Voltage	UINT	RWL3 MCU supply voltage. (Unit of measure is [mV])
	312	16	RWL3 5V Current	UINT	RWL3 5V current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	328	16	RWL3 PMU Current	UINT	RWL3 PMU Current. (Unit of measure is [mA])
	344	1	RWL3 5V Overcurrent	BOOL	Rwl3 5V overcurrent
	345	1	RWL3 Power Good	BOOL	Rwl3 PowerGood signal
	346	1	RWL3 PMU Current Valid	BOOL	RWL3 Set if measurement was successful
	347	5		PADDING	Reserved.

Table 181: Raw NSSRWL sensor telemetry Telemetry Format

ID	226		Frame Length (bytes)		53
Description	Raw NSSRWL sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	16	RWL0 target value	INT	RWL0 target value
	80	32	RWL0 measured speed	FLOAT	RWL0 measured speed. (Unit of measure is [rpm])
	112	16	RWL0 measured current	INT	RWL0 measured current. (Unit of measure is [mA])
	128	16	RWL0 temperature	INT	RWL0 NSSRWL temperature (not CubeNode). (Unit of measure is [C])
	144	16	RWL1 target value	INT	RWL1 target value
	160	32	RWL1 measured speed	FLOAT	RWL1 measured speed. (Unit of measure is [rpm])
	192	16	RWL1 measured current	INT	RWL1 measured current. (Unit of measure is [mA])
	208	16	RWL1 temperature	INT	RWL1 NSSRWL temperature (not CubeNode). (Unit of measure is [C])
	224	16	RWL2 target value	INT	RWL2 target value
	240	32	RWL2 measured speed	FLOAT	RWL2 measured speed. (Unit of measure is [rpm])
	272	16	RWL2 measured current	INT	RWL2 measured current. (Unit of measure is [mA])
	288	16	RWL2 temperature	INT	RWL2 NSSRWL temperature (not CubeNode). (Unit of measure is [C])
	304	16	RWL3 target value	INT	RWL3 target value
	320	32	RWL3 measured speed	FLOAT	RWL3 measured speed. (Unit of measure is [rpm])
	352	16	RWL3 measured current	INT	RWL3 measured current. (Unit of measure is [mA])
	368	16	RWL3 temperature	INT	RWL3 NSSRWL temperature (not CubeNode). (Unit of measure is [C])
	384	1	RWL0 valid flag	BOOL	RWL0 valid flag
	385	1	RWL0 wheel mode	BOOL	RWL0 Set if in reaction wheel mode
	386	1	RWL0 current-control mode	BOOL	RWL0 Set if in current-control mode
	387	1	RWL0 speed-control mode	BOOL	RWL0 Set if in speed-control mode
	388	1	RWL0 torque-control mode	BOOL	RWL0 Set if in torque-control mode
	389	1	RWL0 CRC error	BOOL	RWL0 Set if CRC error on protected area
	390	1	RWL0 wrong low-level command	BOOL	RWL0 wrong low-level command
	391	1	RWL0 wrong high-level command	BOOL	RWL0 wrong high-level command
	392	1	RWL0 Timeout SCI1 main	BOOL	RWL0 Timeout on SCI1 main interface
	393	1	RWL1 valid flag	BOOL	RWL1 valid flag
	394	1	RWL1 wheel mode	BOOL	RWL1 Set if in reaction wheel mode
	395	1	RWL1 current-control mode	BOOL	RWL1 Set if in current-control mode
	396	1	RWL1 speed-control mode	BOOL	RWL1 Set if in speed-control mode
	397	1	RWL1 torque-control mode	BOOL	RWL1 Set if in torque-control mode
	398	1	RWL1 CRC error	BOOL	RWL1 Set if CRC error on protected area
	399	1	RWL1 wrong low-level command	BOOL	RWL1 wrong low-level command
	400	1	RWL1 wrong high-level command	BOOL	RWL1 wrong high-level command
	401	1	RWL1 Timeout SCI1 main	BOOL	RWL1 Timeout on SCI1 main interface
	402	1	RWL2 valid flag	BOOL	RWL2 valid flag
	403	1	RWL2 wheel mode	BOOL	RWL2 Set if in reaction wheel mode
	404	1	RWL2 current-control mode	BOOL	RWL2 Set if in current-control mode
	405	1	RWL2 speed-control mode	BOOL	RWL2 Set if in speed-control mode
	406	1	RWL2 torque-control mode	BOOL	RWL2 Set if in torque-control mode
	407	1	RWL2 CRC error	BOOL	RWL2 Set if CRC error on protected area
	408	1	RWL2 wrong low-level command	BOOL	RWL2 wrong low-level command
	409	1	RWL2 wrong high-level command	BOOL	RWL2 wrong high-level command
	410	1	RWL2 Timeout SCI1 main	BOOL	RWL2 Timeout on SCI1 main interface
	411	1	RWL3 valid flag	BOOL	RWL3 valid flag
	412	1	RWL3 wheel mode	BOOL	RWL3 Set if in reaction wheel mode
	413	1	RWL3 current-control mode	BOOL	RWL3 Set if in current-control mode
	414	1	RWL3 speed-control mode	BOOL	RWL3 Set if in speed-control mode
	415	1	RWL3 torque-control mode	BOOL	RWL3 Set if in torque-control mode
	416	1	RWL3 CRC error	BOOL	RWL3 Set if CRC error on protected area
	417	1	RWL3 wrong low-level command	BOOL	RWL3 wrong low-level command
	418	1	RWL3 wrong high-level command	BOOL	RWL3 wrong high-level command
	419	1	RWL3 Timeout SCI1 main	BOOL	RWL3 Timeout on SCI1 main interface
	420	4		PADDING	Reserved.

Table 182: Telemtry log inclusion masks Telemetry Format

ID	227		Frame Length (bytes)		10
Description	Get the Telemtry log inclusion masks
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	40	Fast inclusion bitmask	ARRAY	Log ID inclusion bitmask for telemetry logged every 200ms
	40	40	Slow inclusion bitmask	ARRAY	Log ID inclusion bitmask for telemetry logged every 1s

Table 183: Unsolicited Telemetry Message Setup Telemetry Format

ID	228		Frame Length (bytes)		17
Description	Inclusion bitmask for unsolicited telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	4	UART Tlm Return Interval	ENUM	Indicate how frequently unsolicited telemetry is transmitted on the UART interface. Possible values are in Table 63
	4	4	UART2 Tlm Return Interval	ENUM	Indicate how frequently unsolicited telemetry is transmitted on the UART2 interface. Possible values are in Table 63
	8	4	CAN Tlm Return Interval	ENUM	Indicate how frequently unsolicited telemetry is transmitted on the CAN interface. Possible values are in Table 63
	12	4	Reserved	PADDING	Reserved.
	16	40	UART TLM ID inclusion bitmask	ARRAY	Indicate which TLM IDs must be included in the transfered Telemetry on the UART interface
	56	40	UART2 TLM ID inclusion bitmask	ARRAY	Indicate which TLM IDs must be included in the transfered Telemetry on the UART2 interface
	96	40	CAN TLM ID inclusion bitmask	ARRAY	Indicate which TLM IDs must be included in the transfered Telemetry on the CAN interface

Table 184: Pass Through Telemetry Format

ID	229		Frame Length (bytes)		1
Description	TCTLM Passthrough settings
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Target Node	ENUM	Target Node. Possible values are in Table 60

Table 185: Component Error Codes Telemetry Format

ID	230		Frame Length (bytes)		24
Description	Error codes common to CubeComputer bootloader and control-program
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Master Service	UINT	Tctlm comms master service error code (node comms)
	32	32	FRAM File System Service	UINT	FRAM file system error code.
	64	32	Event Log Service	UINT	Event log service error code.
	96	32	Image Log Service	UINT	Image log service error code.
	128	32	Telemetry Log Service	UINT	Telemetry log service error code.
	160	32	IMU Service	UINT	IMU/Gyro service error code.

Table 186: Image File Info Telemetry Format

ID	231		Frame Length (bytes)		14
Description	Stored image file information
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	File Handle	UINT	File handle of this file.
	32	8	Node Type	ENUM	The node that this file was sourced from.. Possible values are in Table 60
	40	32	Timestamp	UINT	Timestamp of when this file was stored.
	72	32	Size	UINT	Size of the file in bytes.
	104	1	First	BOOL	Set if this file is the first stored image.
	105	1	Last	BOOL	Set if this file is the last stored image. If set, subsequent requests will wrap to the first file.
	106	1	IsValid	BOOL	Set if this file's Meta data was CRC-validated.

Table 187: Image Transfer Status Telemetry Format

ID	232		Frame Length (bytes)		15
Description	Image Transfer Status
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	State	ENUM	State. Possible values are in Table 188
	8	32	Error Code	UINT	Operation Error Code. Non-Zero = ERROR
	40	32	Transfer Size	UINT	Size of the transfer
	72	32	Data Remain	UINT	Amount of data still to be transfered
	104	1	Invalid Node Error	BOOL	Set if the target node is invalid
	105	1	Timeout Error	BOOL	Set if transfer timeout reached
	106	1	Capture Error	BOOL	Set if the target node failed to capture image invalid
	107	1	Setup Error	BOOL	Set if the target node failed to set up image transfer
	108	1	File Open Read Error	BOOL	Set if error occured when opening storage file for reading
	109	1	File Open Write Error	BOOL	Set if error occured when opening storage file for writing
	110	1	File Read Error	BOOL	Set if error occured while reading from storage file
	111	1	File Write Error	BOOL	Set if error occured while writing to storage file
	112	1	Busy Error	BOOL	Set if there is already an ongoing transfer when attempting to store an image.

Table 188: ImageTransferState Enumeration Values

Numeric Value	Name	Description
0	Idle	Idle
1	BusyStore	Node image is being sttored internally on CubeComputer
2	BusyDownload	Node image is being downloaded from CubeComputer. This state applies to both direct downloads and downloads from storage

Table 189: Unsolicited Event Message Setup Telemetry Format

ID	233		Frame Length (bytes)		2
Description	Setup unsolicited event messages
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	UART Info Events	BOOL	Output Info class events to UART
	1	1	UART Minor Warning Events	BOOL	Output minor warning class events to UART
	2	1	UART Major Warning Events	BOOL	Output major warning class events to UART
	3	1	UART Critical Events	BOOL	Output critical class events to UART2
	4	1	UART2 Info Events	BOOL	Output Info class events to UART2
	5	1	UART2 Minor Warning Events	BOOL	Output minor warning class events to UART2
	6	1	UART2 Major Warning Events	BOOL	Output major warning class events to UART2
	7	1	UART2 Critical Events	BOOL	Output critical class events to UART2
	8	1	CAN Info Events	BOOL	Output Info class events to CAN
	9	1	CAN Minor Warning Events	BOOL	Output minor warning class events to CAN
	10	1	CAN Major Warning Events	BOOL	Output major warning class events to CAN
	11	1	CAN Critical Events	BOOL	Output critical class events to CAN

Table 190: Get the Telemtry log status response Telemetry Format

ID	234		Frame Length (bytes)		19
Description	Get the Telemtry log status response
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Number of queued entries	UINT	The number of entries in the queue
	8	8	Number of request iterations	UINT	The number of telemetry request iterations performed for the current log entry (0-4)
	16	32	Number of entries	UINT	The total number of entries contained in the telemetry log
	48	32	Oldest entry unix time	UINT	Timestamp of the oldest entry unix time in seconds
	80	32	Latest entry unix time	UINT	Timestamp of the latest entry unix time in seconds
	112	32	Write counter	UINT	The current event write counter
	144	2	Read-Queue state	ENUM	The state of the read queue. Possible values are in Table 191

Table 191: TlmLogReadQueueState Enumeration Values

Numeric Value	Name	Description
0	Idle	Idle
1	BusyDownload	Telemetry log download in progress
2	BusyErase	Telemetry log erase is progress

Table 192: Get the Event log status response Telemetry Format

ID	235		Frame Length (bytes)		41
Description	Get the Event log status response
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Number of queued entries	UINT	The number of entries in the queue
	16	16	Number of buffered entries	UINT	The number of buffered (unwritten) entries
	32	32	Number of entries	UINT	The total number of entries contained in the event log (buffered + written)
	64	32	Number of empty entries	UINT	The total number of empty entries contained in the event log (storage space with no data)
	96	32	Oldest entry unix time	UINT	Timestamp of the oldest entry unix time in seconds
	128	32	Latest entry unix time	UINT	Timestamp of the latest entry unix time in seconds
	160	32	Number of critical events	UINT	The total number of critical events contained in the event log
	192	32	Number of major warning events	UINT	The total number of major warning events contained in the event log
	224	32	Number of minor warning events	UINT	The total number of minor warning events contained in the event log
	256	32	Number of info events	UINT	The total number of info events contained in the event log
	288	32	Write counter	UINT	The current event write counter
	320	2	Read-Queue state	ENUM	The state of the read queue. Possible values are in Table 193

Table 193: EventReadQueueState Enumeration Values

Numeric Value	Name	Description
0	Idle	Idle
1	BusyDownload	Event log download in progress
2	BusyErase	Event log erase is progress

Table 194: RAW LITEF uFORS sensor telemetry Telemetry Format

ID	236		Frame Length (bytes)		38
Description	Raw LITEF uFORS sensor telemetry
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Time integer seconds	UINT	Unix time integer seconds. (Unit of measure is [s])
	32	32	Time nanoseconds	UINT	Unix time fraction nanoseconds. (Unit of measure is [ns])
	64	32	EXTGYR0 Rate uFORS X	FLOAT	EXTGYR0 uFORS X Angular rate
	96	32	EXTGYR0 Rate uFORS Y	FLOAT	EXTGYR0 uFORS Y Angular rate
	128	32	EXTGYR0 Rate uFORS Z	FLOAT	EXTGYR0 uFORS Z Angular rate
	160	1	EXTGYR0 NOGO uFORS X	BOOL	EXTGYR0 uFORS XStatus - NOGO bit
	161	1	EXTGYR0 Reset Ack uFORS X	BOOL	EXTGYR0 uFORS X Status - Reset acknowledge bit
	162	1	EXTGYR0 Temp Warning uFORS X	BOOL	EXTGYR0 uFORS X Status - temperature warning bit
	163	1	EXTGYR0 Aux Control Loop Err uFORS X	BOOL	EXTGYR0 uFORS X Status - auxillary control loop error bit
	164	1	EXTGYR0 Hardware BIT Err uFORS X	BOOL	EXTGYR0 uFORS X Status - Hardware BIT error bit
	165	1	EXTGYR0 Measurement Range Err uFORS X	BOOL	EXTGYR0 uFORS X Status - Measurement range exceeded bit
	166	1	EXTGYR0 Unknown Command uFORS X	BOOL	EXTGYR0 uFORS X Status - unknown command bit
	167	1	EXTGYR0 NOGO uFORS Y	BOOL	EXTGYR0 uFORS Y Status - NOGO bit
	168	1	EXTGYR0 Reset Ack uFORS Y	BOOL	EXTGYR0 uFORS Y Status - Reset acknowledge bit
	169	1	EXTGYR0 Temp Warning uFORS Y	BOOL	EXTGYR0 uFORS Y Status - temperature warning bit
	170	1	EXTGYR0 Aux Control Loop Err uFORS Y	BOOL	EXTGYR0 uFORS Y Status - auxillary control loop error bit
	171	1	EXTGYR0 Hardware BIT Err uFORS Y	BOOL	EXTGYR0 uFORS Y Status - Hardware BIT error bit
	172	1	EXTGYR0 Measurement Range Err uFORS Y	BOOL	EXTGYR0 uFORS Y Status - Measurement range exceeded bit
	173	1	EXTGYR0 Unknown Command uFORS Y	BOOL	EXTGYR0 uFORS Y Status - unknown command bit
	174	1	EXTGYR0 NOGO uFORS Z	BOOL	EXTGYR0 uFORS Z Status - NOGO bit
	175	1	EXTGYR0 Reset Ack uFORS Z	BOOL	EXTGYR0 uFORS Z Status - Reset acknowledge bit
	176	1	EXTGYR0 Temp Warning uFORS Z	BOOL	EXTGYR0 uFORS Z Status - temperature warning bit
	177	1	EXTGYR0 Aux Control Loop Err uFORS Z	BOOL	EXTGYR0 uFORS Z Status - auxillary control loop error bit
	178	1	EXTGYR0 Hardware BIT Err uFORS Z	BOOL	EXTGYR0 uFORS Z Status - Hardware BIT error bit
	179	1	EXTGYR0 Measurement Range Err uFORS Z	BOOL	EXTGYR0 uFORS Z Status - Measurement range exceeded bit
	180	1	EXTGYR0 Unknown Command uFORS Z	BOOL	EXTGYR0 uFORS Z Status - unknown command bit
	181	3		PADDING	Reserved.
	184	32	EXTGYR1 Rate uFORS X	FLOAT	EXTGYR1 uFORS X Angular rate
	216	32	EXTGYR1 Rate uFORS Y	FLOAT	EXTGYR1 uFORS Y Angular rate
	248	32	EXTGYR1 Rate uFORS Z	FLOAT	EXTGYR1 uFORS Z Angular rate
	280	1	EXTGYR1 NOGO uFORS X	BOOL	EXTGYR1 uFORS XStatus - NOGO bit
	281	1	EXTGYR1 Reset Ack uFORS X	BOOL	EXTGYR1 uFORS X Status - Reset acknowledge bit
	282	1	EXTGYR1 Temp Warning uFORS X	BOOL	EXTGYR1 uFORS X Status - temperature warning bit
	283	1	EXTGYR1 Aux Control Loop Err uFORS X	BOOL	EXTGYR1 uFORS X Status - auxillary control loop error bit
	284	1	EXTGYR1 Hardware BIT Err uFORS X	BOOL	EXTGYR1 uFORS X Status - Hardware BIT error bit
	285	1	EXTGYR1 Measurement Range Err uFORS X	BOOL	EXTGYR1 uFORS X Status - Measurement range exceeded bit
	286	1	EXTGYR1 Unknown Command uFORS X	BOOL	EXTGYR1 uFORS X Status - unknown command bit
	287	1	EXTGYR1 NOGO uFORS Y	BOOL	EXTGYR1 uFORS Y Status - NOGO bit
	288	1	EXTGYR1 Reset Ack uFORS Y	BOOL	EXTGYR1 uFORS Y Status - Reset acknowledge bit
	289	1	EXTGYR1 Temp Warning uFORS Y	BOOL	EXTGYR1 uFORS Y Status - temperature warning bit
	290	1	EXTGYR1 Aux Control Loop Err uFORS Y	BOOL	EXTGYR1 uFORS Y Status - auxillary control loop error bit
	291	1	EXTGYR1 Hardware BIT Err uFORS Y	BOOL	EXTGYR1 uFORS Y Status - Hardware BIT error bit
	292	1	EXTGYR1 Measurement Range Err uFORS Y	BOOL	EXTGYR1 uFORS Y Status - Measurement range exceeded bit
	293	1	EXTGYR1 Unknown Command uFORS Y	BOOL	EXTGYR1 uFORS Y Status - unknown command bit
	294	1	EXTGYR1 NOGO uFORS Z	BOOL	EXTGYR1 uFORS Z Status - NOGO bit
	295	1	EXTGYR1 Reset Ack uFORS Z	BOOL	EXTGYR1 uFORS Z Status - Reset acknowledge bit
	296	1	EXTGYR1 Temp Warning uFORS Z	BOOL	EXTGYR1 uFORS Z Status - temperature warning bit
	297	1	EXTGYR1 Aux Control Loop Err uFORS Z	BOOL	EXTGYR1 uFORS Z Status - auxillary control loop error bit
	298	1	EXTGYR1 Hardware BIT Err uFORS Z	BOOL	EXTGYR1 uFORS Z Status - Hardware BIT error bit
	299	1	EXTGYR1 Measurement Range Err uFORS Z	BOOL	EXTGYR1 uFORS Z Status - Measurement range exceeded bit
	300	1	EXTGYR1 Unknown Command uFORS Z	BOOL	EXTGYR1 uFORS Z Status - unknown command bit
	301	3		PADDING	Reserved.

Table 195: Node Initialization States Telemetry Format

ID	237		Frame Length (bytes)		10
Description	Current initialization state of each node
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	4	RWL0 init state	ENUM	RWL0 init state. Possible values are in Table 196
	4	4	RWL1 init state	ENUM	RWL1 init state. Possible values are in Table 196
	8	4	RWL2 init state	ENUM	RWL2 init state. Possible values are in Table 196
	12	4	RWL3 init state	ENUM	RWL3 init state. Possible values are in Table 196
	16	4	MAG0 init state	ENUM	MAG0 init state. Possible values are in Table 196
	20	4	MAG1 init state	ENUM	MAG1 init state. Possible values are in Table 196
	24	4	GYR0 init state	ENUM	GYR0 init state. Possible values are in Table 196
	28	4	GYR1 init state	ENUM	GYR1 init state. Possible values are in Table 196
	32	4	FSS0 init state	ENUM	FSS0 init state. Possible values are in Table 196
	36	4	FSS1 init state	ENUM	FSS1 init state. Possible values are in Table 196
	40	4	FSS2 init state	ENUM	FSS2 init state. Possible values are in Table 196
	44	4	FSS3 init state	ENUM	FSS3 init state. Possible values are in Table 196
	48	4	HSS0 init state	ENUM	HSS0 init state. Possible values are in Table 196
	52	4	HSS1 init state	ENUM	HSS1 init state. Possible values are in Table 196
	56	4	STR0 init state	ENUM	STR0 init state. Possible values are in Table 196
	60	4	STR1 init state	ENUM	STR1 init state. Possible values are in Table 196
	64	4	ExtSensor0 init state	ENUM	ExtSensor0 init state. Possible values are in Table 196
	68	4	ExtSensor1 init state	ENUM	ExtSensor1 init state. Possible values are in Table 196
	72	4	EXTGYR0 init state	ENUM	EXTGYR0 init state. Possible values are in Table 196
	76	4	EXTGYR1 init state	ENUM	EXTGYR1 init state. Possible values are in Table 196

Table 196: InitState Enumeration Values

Numeric Value	Name	Description
0	Off	Node is powered off
1	Jump	Node is being commanded to jump to its control-program
2	Setup	Node control-program setup in progress
3	Done	Node initialization is complete. The control-program is running and ready for control
4	Pass	Node is powered on for passthrough and is not performing any tasks
5	Upgrade	Node is being used for upgrade - note that is any node bootloader is being upgraded, all nodes will be used since the whole bus is needed
6	Max	Enumeration max value (invalid)

Table 197: Expected Nodes Telemetry Format

ID	238		Frame Length (bytes)		72
Description	Lists the expected nodes config item
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Node Type: Slot 0	ENUM	Slot 0 - Node type identifier. Possible values are in Table 56
	8	8	Abstract Node Type: Slot 0	ENUM	Slot 0 - Abstract Node type identifier. Possible values are in Table 60
	16	32	Serial Number Integer: Slot 0	UINT	Slot 0 - Serial Number Integer Respresentation
	48	8	Node Type: Slot 1	ENUM	Slot 1 - Node type identifier. Possible values are in Table 56
	56	8	Abstract Node Type: Slot 1	ENUM	Slot 1 - Abstract Node type identifier. Possible values are in Table 60
	64	32	Serial Number Integer: Slot 1	UINT	Slot 1 - Serial Number Integer Respresentation
	96	8	Node Type: Slot 2	ENUM	Slot 2 - Node type identifier. Possible values are in Table 56
	104	8	Abstract Node Type: Slot 2	ENUM	Slot 2 - Abstract Node type identifier. Possible values are in Table 60
	112	32	Serial Number Integer: Slot 2	UINT	Slot 2 - Serial Number Integer Respresentation
	144	8	Node Type: Slot 3	ENUM	Slot 3 - Node type identifier. Possible values are in Table 56
	152	8	Abstract Node Type: Slot 3	ENUM	Slot 3 - Abstract Node type identifier. Possible values are in Table 60
	160	32	Serial Number Integer: Slot 3	UINT	Slot 3 - Serial Number Integer Respresentation
	192	8	Node Type: Slot 4	ENUM	Slot 4 - Node type identifier. Possible values are in Table 56
	200	8	Abstract Node Type: Slot 4	ENUM	Slot 4 - Abstract Node type identifier. Possible values are in Table 60
	208	32	Serial Number Integer: Slot 4	UINT	Slot 4 - Serial Number Integer Respresentation
	240	8	Node Type: Slot 5	ENUM	Slot 5 - Node type identifier. Possible values are in Table 56
	248	8	Abstract Node Type: Slot 5	ENUM	Slot 5 - Abstract Node type identifier. Possible values are in Table 60
	256	32	Serial Number Integer: Slot 5	UINT	Slot 5 - Serial Number Integer Respresentation
	288	8	Node Type: Slot 6	ENUM	Slot 6 - Node type identifier. Possible values are in Table 56
	296	8	Abstract Node Type: Slot 6	ENUM	Slot 6 - Abstract Node type identifier. Possible values are in Table 60
	304	32	Serial Number Integer: Slot 6	UINT	Slot 6 - Serial Number Integer Respresentation
	336	8	Node Type: Slot 7	ENUM	Slot 7 - Node type identifier. Possible values are in Table 56
	344	8	Abstract Node Type: Slot 7	ENUM	Slot 7 - Abstract Node type identifier. Possible values are in Table 60
	352	32	Serial Number Integer: Slot 7	UINT	Slot 7 - Serial Number Integer Respresentation
	384	8	Node Type: Slot 8	ENUM	Slot 8 - Node type identifier. Possible values are in Table 56
	392	8	Abstract Node Type: Slot 8	ENUM	Slot 8 - Abstract Node type identifier. Possible values are in Table 60
	400	32	Serial Number Integer: Slot 8	UINT	Slot 8 - Serial Number Integer Respresentation
	432	8	Node Type: Slot 9	ENUM	Slot 9 - Node type identifier. Possible values are in Table 56
	440	8	Abstract Node Type: Slot 9	ENUM	Slot 9 - Abstract Node type identifier. Possible values are in Table 60
	448	32	Serial Number Integer: Slot 9	UINT	Slot 9 - Serial Number Integer Respresentation
	480	8	Node Type: Slot 10	ENUM	Slot 10 - Node type identifier. Possible values are in Table 56
	488	8	Abstract Node Type: Slot 10	ENUM	Slot 10 - Abstract Node type identifier. Possible values are in Table 60
	496	32	Serial Number Integer: Slot 10	UINT	Slot 10 - Serial Number Integer Respresentation
	528	8	Node Type: Slot 11	ENUM	Slot 11 - Node type identifier. Possible values are in Table 56
	536	8	Abstract Node Type: Slot 11	ENUM	Slot 11 - Abstract Node type identifier. Possible values are in Table 60
	544	32	Serial Number Integer: Slot 11	UINT	Slot 11 - Serial Number Integer Respresentation

Table 198: Port Map Telemetry Format

ID	239		Frame Length (bytes)		120
Description	This telemetry describes the nodes that have been discovered i.e. connected to CubeConnect
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Node Type: Sensor 1	ENUM	Sensor 1 port - Node type identifier. Possible values are in Table 56
	8	8	Abstract Node Type: Sensor 1	ENUM	Sensor 1 port - Abstract Node type identifier. Possible values are in Table 60
	16	32	Serial Number Integer: Sensor 1	UINT	Sensor 1 port - Serial Number Integer Respresentation
	48	32	Address: Sensor 1	UINT	Sensor 1 port - CAN Address
	80	8	Node Type: Sensor 2	ENUM	Sensor 2 port - Node type identifier. Possible values are in Table 56
	88	8	Abstract Node Type: Sensor 2	ENUM	Sensor 2 port - Abstract Node type identifier. Possible values are in Table 60
	96	32	Serial Number Integer: Sensor 2	UINT	Sensor 2 port - Serial Number Integer Respresentation
	128	32	Address: Sensor 2	UINT	Sensor 2 port - CAN Address
	160	8	Node Type: Sensor 3	ENUM	Sensor 3 port - Node type identifier. Possible values are in Table 56
	168	8	Abstract Node Type: Sensor 3	ENUM	Sensor 3 port - Abstract Node type identifier. Possible values are in Table 60
	176	32	Serial Number Integer: Sensor 3	UINT	Sensor 3 port - Serial Number Integer Respresentation
	208	32	Address: Sensor 3	UINT	Sensor 3 port - CAN Address
	240	8	Node Type: Sensor 4	ENUM	Sensor 4 port - Node type identifier. Possible values are in Table 56
	248	8	Abstract Node Type: Sensor 4	ENUM	Sensor 4 port - Abstract Node type identifier. Possible values are in Table 60
	256	32	Serial Number Integer: Sensor 4	UINT	Sensor 4 port - Serial Number Integer Respresentation
	288	32	Address: Sensor 4	UINT	Sensor 4 port - CAN Address
	320	8	Node Type: Sensor 5	ENUM	Sensor 5 port - Node type identifier. Possible values are in Table 56
	328	8	Abstract Node Type: Sensor 5	ENUM	Sensor 5 port - Abstract Node type identifier. Possible values are in Table 60
	336	32	Serial Number Integer: Sensor 5	UINT	Sensor 5 port - Serial Number Integer Respresentation
	368	32	Address: Sensor 5	UINT	Sensor 5 port - CAN Address
	400	8	Node Type: Sensor 6	ENUM	Sensor 6 port - Node type identifier. Possible values are in Table 56
	408	8	Abstract Node Type: Sensor 6	ENUM	Sensor 6 port - Abstract Node type identifier. Possible values are in Table 60
	416	32	Serial Number Integer: Sensor 6	UINT	Sensor 6 port - Serial Number Integer Respresentation
	448	32	Address: Sensor 6	UINT	Sensor 6 port - CAN Address
	480	8	Node Type: Sensor 7	ENUM	Sensor 7 port - Node type identifier. Possible values are in Table 56
	488	8	Abstract Node Type: Sensor 7	ENUM	Sensor 7 port - Abstract Node type identifier. Possible values are in Table 60
	496	32	Serial Number Integer: Sensor 7	UINT	Sensor 7 port - Serial Number Integer Respresentation
	528	32	Address: Sensor 7	UINT	Sensor 7 port - CAN Address
	560	8	Node Type: Sensor 8	ENUM	Sensor 8 port - Node type identifier. Possible values are in Table 56
	568	8	Abstract Node Type: Sensor 8	ENUM	Sensor 8 port - Abstract Node type identifier. Possible values are in Table 60
	576	32	Serial Number Integer: Sensor 8	UINT	Sensor 8 port - Serial Number Integer Respresentation
	608	32	Address: Sensor 8	UINT	Sensor 8 port - CAN Address
	640	8	Node Type: Wheel 1	ENUM	Wheel 1 port - Node type identifier. Possible values are in Table 56
	648	8	Abstract Node Type: Wheel 1	ENUM	Wheel 1 port - Abstract Node type identifier. Possible values are in Table 60
	656	32	Serial Number Integer: Wheel 1	UINT	Wheel 1 port - Serial Number Integer Respresentation
	688	32	Address: Wheel 1	UINT	Wheel 1 port - CAN Address
	720	8	Node Type: Wheel 2	ENUM	Wheel 2 port - Node type identifier. Possible values are in Table 56
	728	8	Abstract Node Type: Wheel 2	ENUM	Wheel 2 port - Abstract Node type identifier. Possible values are in Table 60
	736	32	Serial Number Integer: Wheel 2	UINT	Wheel 2 port - Serial Number Integer Respresentation
	768	32	Address: Wheel 2	UINT	Wheel 2 port - CAN Address
	800	8	Node Type: Wheel 3	ENUM	Wheel 3 port - Node type identifier. Possible values are in Table 56
	808	8	Abstract Node Type: Wheel 3	ENUM	Wheel 3 port - Abstract Node type identifier. Possible values are in Table 60
	816	32	Serial Number Integer: Wheel 3	UINT	Wheel 3 port - Serial Number Integer Respresentation
	848	32	Address: Wheel 3	UINT	Wheel 3 port - CAN Address
	880	8	Node Type: Wheel 4	ENUM	Wheel 4 port - Node type identifier. Possible values are in Table 56
	888	8	Abstract Node Type: Wheel 4	ENUM	Wheel 4 port - Abstract Node type identifier. Possible values are in Table 60
	896	32	Serial Number Integer: Wheel 4	UINT	Wheel 4 port - Serial Number Integer Respresentation
	928	32	Address: Wheel 4	UINT	Wheel 4 port - CAN Address

Table 199: Port Diagnostics Telemetry Format

ID	240		Frame Length (bytes)		65
Description	Diagnostics relating to the inernal CubeConnect interface port
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Global Error Code	UINT	Global Error Code for Port Interface Operations. Signaling an error with at least one of the ports.
	32	1	None Expected	BOOL	Set if the expected nodes configuration is empty.
	33	1	None Discovered Error	BOOL	Set if no nodes have been discovered. Please ensure nodes are connected
	34	1	Expected Match Error	BOOL	Set if the nodes that have been discovered do not match the expected nodes. Please read all port parameters to diagnose.
	35	1	Address Assign Error	BOOL	Set if a CAN address could not be assigned to a node. Please read all port parameters to diagnose.
	36	1	Abstract Type Error	BOOL	Set if an abstract node type could not be resolved. Typically due to an unsupported number of a specific type of node being discovered. Please read all port parameters to diagnose.
	37	1	Config Persist Error	BOOL	Set if the discovered nodes could not be written to flash.
	38	2	Reserved	PADDING	Reserved.
	40	32	Error Code: Sensor 1	UINT	Sensor 1 port - Error Code for Port Interface Operations.
	72	1	Unexpected Error: Sensor 1	BOOL	Sensor 1 port - Set if the node discovered on this port is not listed as an expected node.
	73	1	Comms Error: Sensor 1	BOOL	Sensor 1 port - Set if a communications error ocurred.
	74	1	Node Type Match Error: Sensor 1	BOOL	Sensor 1 port - Set if the previously discovered node type no longer matches the node connected to the port.
	75	1	Serial Number Match Error: Sensor 1	BOOL	Sensor 1 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	76	1	Address Assign Error: Sensor 1	BOOL	Sensor 1 port - Set if this port could not be assigned a CAN address.
	77	1	Abstract Type Error: Sensor 1	BOOL	Sensor 1 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	78	1	Serial Number Resolve Error: Sensor 1	BOOL	Sensor 1 port - Set if the serial number returned by the node could not be resolved to a node type.
	79	1	Reserved	PADDING	Reserved.
	80	32	Error Code: Sensor 2	UINT	Sensor 2 port - Error Code for Port Interface Operations.
	112	1	Unexpected Error: Sensor 2	BOOL	Sensor 2 port - Set if the node discovered on this port is not listed as an expected node.
	113	1	Comms Error: Sensor 2	BOOL	Sensor 2 port - Set if a communications error ocurred.
	114	1	Node Type Match Error: Sensor 2	BOOL	Sensor 2 port - Set if the previously discovered node type no longer matches the node connected to the port.
	115	1	Serial Number Match Error: Sensor 2	BOOL	Sensor 2 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	116	1	Address Assign Error: Sensor 2	BOOL	Sensor 2 port - Set if this port could not be assigned a CAN address.
	117	1	Abstract Type Error: Sensor 2	BOOL	Sensor 2 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	118	1	Serial Number Resolve Error: Sensor 2	BOOL	Sensor 2 port - Set if the serial number returned by the node could not be resolved to a node type.
	119	1	Reserved	PADDING	Reserved.
	120	32	Error Code: Sensor 3	UINT	Sensor 3 port - Error Code for Port Interface Operations.
	152	1	Unexpected Error: Sensor 3	BOOL	Sensor 3 port - Set if the node discovered on this port is not listed as an expected node.
	153	1	Comms Error: Sensor 3	BOOL	Sensor 3 port - Set if a communications error ocurred.
	154	1	Node Type Match Error: Sensor 3	BOOL	Sensor 3 port - Set if the previously discovered node type no longer matches the node connected to the port.
	155	1	Serial Number Match Error: Sensor 3	BOOL	Sensor 3 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	156	1	Address Assign Error: Sensor 3	BOOL	Sensor 3 port - Set if this port could not be assigned a CAN address.
	157	1	Abstract Type Error: Sensor 3	BOOL	Sensor 3 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	158	1	Serial Number Resolve Error: Sensor 3	BOOL	Sensor 3 port - Set if the serial number returned by the node could not be resolved to a node type.
	159	1	Reserved	PADDING	Reserved.
	160	32	Error Code: Sensor 4	UINT	Sensor 4 port - Error Code for Port Interface Operations.
	192	1	Unexpected Error: Sensor 4	BOOL	Sensor 4 port - Set if the node discovered on this port is not listed as an expected node.
	193	1	Comms Error: Sensor 4	BOOL	Sensor 4 port - Set if a communications error ocurred.
	194	1	Node Type Match Error: Sensor 4	BOOL	Sensor 4 port - Set if the previously discovered node type no longer matches the node connected to the port.
	195	1	Serial Number Match Error: Sensor 4	BOOL	Sensor 4 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	196	1	Address Assign Error: Sensor 4	BOOL	Sensor 4 port - Set if this port could not be assigned a CAN address.
	197	1	Abstract Type Error: Sensor 4	BOOL	Sensor 4 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	198	1	Serial Number Resolve Error: Sensor 4	BOOL	Sensor 4 port - Set if the serial number returned by the node could not be resolved to a node type.
	199	1	Reserved	PADDING	Reserved.
	200	32	Error Code: Sensor 5	UINT	Sensor 5 port - Error Code for Port Interface Operations.
	232	1	Unexpected Error: Sensor 5	BOOL	Sensor 5 port - Set if the node discovered on this port is not listed as an expected node.
	233	1	Comms Error: Sensor 5	BOOL	Sensor 5 port - Set if a communications error ocurred.
	234	1	Node Type Match Error: Sensor 5	BOOL	Sensor 5 port - Set if the previously discovered node type no longer matches the node connected to the port.
	235	1	Serial Number Match Error: Sensor 5	BOOL	Sensor 5 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	236	1	Address Assign Error: Sensor 5	BOOL	Sensor 5 port - Set if this port could not be assigned a CAN address.
	237	1	Abstract Type Error: Sensor 5	BOOL	Sensor 5 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	238	1	Serial Number Resolve Error: Sensor 5	BOOL	Sensor 5 port - Set if the serial number returned by the node could not be resolved to a node type.
	239	1	Reserved	PADDING	Reserved.
	240	32	Error Code: Sensor 6	UINT	Sensor 6 port - Error Code for Port Interface Operations.
	272	1	Unexpected Error: Sensor 6	BOOL	Sensor 6 port - Set if the node discovered on this port is not listed as an expected node.
	273	1	Comms Error: Sensor 6	BOOL	Sensor 6 port - Set if a communications error ocurred.
	274	1	Node Type Match Error: Sensor 6	BOOL	Sensor 6 port - Set if the previously discovered node type no longer matches the node connected to the port.
	275	1	Serial Number Match Error: Sensor 6	BOOL	Sensor 6 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	276	1	Address Assign Error: Sensor 6	BOOL	Sensor 6 port - Set if this port could not be assigned a CAN address.
	277	1	Abstract Type Error: Sensor 6	BOOL	Sensor 6 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	278	1	Serial Number Resolve Error: Sensor 6	BOOL	Sensor 6 port - Set if the serial number returned by the node could not be resolved to a node type.
	279	1	Reserved	PADDING	Reserved.
	280	32	Error Code: Sensor 7	UINT	Sensor 7 port - Error Code for Port Interface Operations.
	312	1	Unexpected Error: Sensor 7	BOOL	Sensor 7 port - Set if the node discovered on this port is not listed as an expected node.
	313	1	Comms Error: Sensor 7	BOOL	Sensor 7 port - Set if a communications error ocurred.
	314	1	Node Type Match Error: Sensor 7	BOOL	Sensor 7 port - Set if the previously discovered node type no longer matches the node connected to the port.
	315	1	Serial Number Match Error: Sensor 7	BOOL	Sensor 7 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	316	1	Address Assign Error: Sensor 7	BOOL	Sensor 7 port - Set if this port could not be assigned a CAN address.
	317	1	Abstract Type Error: Sensor 7	BOOL	Sensor 7 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	318	1	Serial Number Resolve Error: Sensor 7	BOOL	Sensor 7 port - Set if the serial number returned by the node could not be resolved to a node type.
	319	1	Reserved	PADDING	Reserved.
	320	32	Error Code: Sensor 8	UINT	Sensor 8 port - Error Code for Port Interface Operations.
	352	1	Unexpected Error: Sensor 8	BOOL	Sensor 8 port - Set if the node discovered on this port is not listed as an expected node.
	353	1	Comms Error: Sensor 8	BOOL	Sensor 8 port - Set if a communications error ocurred.
	354	1	Node Type Match Error: Sensor 8	BOOL	Sensor 8 port - Set if the previously discovered node type no longer matches the node connected to the port.
	355	1	Serial Number Match Error: Sensor 8	BOOL	Sensor 8 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	356	1	Address Assign Error: Sensor 8	BOOL	Sensor 8 port - Set if this port could not be assigned a CAN address.
	357	1	Abstract Type Error: Sensor 8	BOOL	Sensor 8 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	358	1	Serial Number Resolve Error: Sensor 8	BOOL	Sensor 8 port - Set if the serial number returned by the node could not be resolved to a node type.
	359	1	Reserved	PADDING	Reserved.
	360	32	Error Code: Wheel 1	UINT	Wheel 1 port - Error Code for Port Interface Operations.
	392	1	Unexpected Error: Wheel 1	BOOL	Wheel 1 port - Set if the node discovered on this port is not listed as an expected node.
	393	1	Comms Error: Wheel 1	BOOL	Wheel 1 port - Set if a communications error ocurred.
	394	1	Node Type Match Error: Wheel 1	BOOL	Wheel 1 port - Set if the previously discovered node type no longer matches the node connected to the port.
	395	1	Serial Number Match Error: Wheel 1	BOOL	Wheel 1 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	396	1	Address Assign Error: Wheel 1	BOOL	Wheel 1 port - Set if this port could not be assigned a CAN address.
	397	1	Abstract Type Error: Wheel 1	BOOL	Wheel 1 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	398	1	Serial Number Resolve Error: Wheel 1	BOOL	Wheel 1 port - Set if the serial number returned by the node could not be resolved to a node type.
	399	1	Reserved	PADDING	Reserved.
	400	32	Error Code: Wheel 2	UINT	Wheel 2 port - Error Code for Port Interface Operations.
	432	1	Unexpected Error: Wheel 2	BOOL	Wheel 2 port - Set if the node discovered on this port is not listed as an expected node.
	433	1	Comms Error: Wheel 2	BOOL	Wheel 2 port - Set if a communications error ocurred.
	434	1	Node Type Match Error: Wheel 2	BOOL	Wheel 2 port - Set if the previously discovered node type no longer matches the node connected to the port.
	435	1	Serial Number Match Error: Wheel 2	BOOL	Wheel 2 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	436	1	Address Assign Error: Wheel 2	BOOL	Wheel 2 port - Set if this port could not be assigned a CAN address.
	437	1	Abstract Type Error: Wheel 2	BOOL	Wheel 2 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	438	1	Serial Number Resolve Error: Wheel 2	BOOL	Wheel 2 port - Set if the serial number returned by the node could not be resolved to a node type.
	439	1	Reserved	PADDING	Reserved.
	440	32	Error Code: Wheel 3	UINT	Wheel 3 port - Error Code for Port Interface Operations.
	472	1	Unexpected Error: Wheel 3	BOOL	Wheel 3 port - Set if the node discovered on this port is not listed as an expected node.
	473	1	Comms Error: Wheel 3	BOOL	Wheel 3 port - Set if a communications error ocurred.
	474	1	Node Type Match Error: Wheel 3	BOOL	Wheel 3 port - Set if the previously discovered node type no longer matches the node connected to the port.
	475	1	Serial Number Match Error: Wheel 3	BOOL	Wheel 3 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	476	1	Address Assign Error: Wheel 3	BOOL	Wheel 3 port - Set if this port could not be assigned a CAN address.
	477	1	Abstract Type Error: Wheel 3	BOOL	Wheel 3 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	478	1	Serial Number Resolve Error: Wheel 3	BOOL	Wheel 3 port - Set if the serial number returned by the node could not be resolved to a node type.
	479	1	Reserved	PADDING	Reserved.
	480	32	Error Code: Wheel 4	UINT	Wheel 4 port - Error Code for Port Interface Operations.
	512	1	Unexpected Error: Wheel 4	BOOL	Wheel 4 port - Set if the node discovered on this port is not listed as an expected node.
	513	1	Comms Error: Wheel 4	BOOL	Wheel 4 port - Set if a communications error ocurred.
	514	1	Node Type Match Error: Wheel 4	BOOL	Wheel 4 port - Set if the previously discovered node type no longer matches the node connected to the port.
	515	1	Serial Number Match Error: Wheel 4	BOOL	Wheel 4 port - Set if the previously discovered node serial number no longer matches the node connected to the port.
	516	1	Address Assign Error: Wheel 4	BOOL	Wheel 4 port - Set if this port could not be assigned a CAN address.
	517	1	Abstract Type Error: Wheel 4	BOOL	Wheel 4 port - Set if the abstract type for the node on this port could not be resolve or if there are an unsupported number of a spacific node type connected.
	518	1	Serial Number Resolve Error: Wheel 4	BOOL	Wheel 4 port - Set if the serial number returned by the node could not be resolved to a node type.
	519	1	Reserved	PADDING	Reserved.

Table 200: File Transfer Setup Telemetry Format

ID	241		Frame Length (bytes)		141
Description	Setup a file transfer
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Op Code	ENUM	Operation to perform. Possible values are in Table 54
	8	8	File	ENUM	File to target. Possible values are in Table 55
	16	8	Node	ENUM	OpCode = Upgrade: Node to upgrade in conjunction with SerialInt. Possible values are in Table 56
	24	32	Serial Number Integer	UINT	OpCode = Upgrade: Serial Number Integer of node to upgrade in conjunction with Node
	56	8	Program	ENUM	OpCode = Upgrade: The Program Type to upgrade with. Possible values are in Table 57
	64	32	File Size	UINT	Size of target file: Only used to confirm setup.. (Unit of measure is [Bytes])
	96	4	Force Port	ENUM	OpCode = Upgrade: Force that the node on this port is upgraded In the event that the node is not discoverable.. Possible values are in Table 58
	100	4		PADDING	Reserved.
	104	1024	File Meta Data	ARRAY	CubeSpace File Meta Data. May be less than allocated size (padding required)

Table 201: File Info Telemetry Format

ID	242		Frame Length (bytes)		105
Description	Cached file information after calling FileTransferSetup
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	File	ENUM	File this info represents. Possible values are in Table 55
	8	8	Backend	ENUM	Which storage medmium is the file in. Possible values are in Table 202
	16	8	Type	ENUM	File Type. Possible values are in Table 203
	24	32	File Size	UINT	File Size (actual data written). (Unit of measure is [Bytes])
	56	32	Size Allocated	UINT	Size of memory allocated to file. (Unit of measure is [Bytes])
	88	32	Vector Table Offset	UINT	Vector Table Offset: Onling applicable to application binary files. (Unit of measure is [Bytes])
	120	32	Unix seconds	UINT	Modification Unix time s. (Unit of measure is [s])
	152	32	Unix Nanoseconds	UINT	Modification Unix time ns. (Unit of measure is [ns])
	184	32	CRC	UINT	File CRC
	216	256	Component	STRING	ASCII string of chars denoting the CubeSpace Component this file is for/from
	472	256	Program	STRING	ASCII string of chars denoting the Component Application this file is for/from
	728	8	Firmware Version (Major)	UINT	Firmware version (Major) that this file is for/from
	736	8	Firmware Version (Minor)	UINT	Firmware version (Minor) that this file is for/from
	744	16	Firmware Version (Patch)	UINT	Firmware version (Patch) that this file is for/from
	760	8	System Version (Major)	UINT	System version (Major) that this file is for/from
	768	8	System Version (Minor)	UINT	System version (Minor) that this file is for/from
	776	16	System Version (Patch)	UINT	System version (Patch) that this file is for/from
	792	8	Owner Node Type	ENUM	The Node Type that owns the file. Possible values are in Table 56
	800	32	Owner Serial Number Integer	UINT	The Serial Number integer of the node that owns the file
	832	8	Owner Program	ENUM	The Program Type that owns the file. Possible values are in Table 57

Table 202: FtpBackend Enumeration Values

Numeric Value	Name	Description
0	FRAM	FRAM Storage Medium
1	Node	Node connected on internal bus

Table 203: FtpFileType Enumeration Values

Numeric Value	Name	Description
0	.bin	Binary image file
1	.cfg	Binary config file
2	Log	Log file
3	Photo	Bitmap photo
4	General	General/internal-use

Table 204: Health telemetry for CubeNode LITEFUFORS Telemetry Format

ID	243		Frame Length (bytes)		26
Description	Health telemetry for CubeNode LITEFUFORS
Channels	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	EXTGYR0 MCU Temperature	INT	EXTGYR0 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	16	16	EXTGYR0 MCU Current	UINT	EXTGYR0 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	32	16	EXTGYR0 MCU Voltage	UINT	EXTGYR0 MCU supply voltage. (Unit of measure is [mV])
	48	16	EXTGYR0 X-axis Current	UINT	EXTGYR0 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	64	16	EXTGYR0 Y-axis Current	UINT	EXTGYR0 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	80	16	EXTGYR0 Z-axis Current	UINT	EXTGYR0 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	96	1	EXTGYR0 X-axis Overcurrent	BOOL	EXTGYR0 X-axis overcurrent
	97	1	EXTGYR0 Y-axis Overcurrent	BOOL	EXTGYR0 X-axis overcurrent
	98	1	EXTGYR0 Z-axis Overcurrent	BOOL	EXTGYR0 X-axis overcurrent
	99	5		PADDING	Reserved.
	104	16	EXTGYR1 MCU Temperature	INT	EXTGYR1 MCU Temperature. Formatted value is obtained using the formula: (formatted value) [°C] = RAWVAL*0.01
	120	16	EXTGYR1 MCU Current	UINT	EXTGYR1 MCU current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	136	16	EXTGYR1 MCU Voltage	UINT	EXTGYR1 MCU supply voltage. (Unit of measure is [mV])
	152	16	EXTGYR1 X-axis Current	UINT	EXTGYR1 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	168	16	EXTGYR1 Y-axis Current	UINT	EXTGYR1 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	184	16	EXTGYR1 Z-axis Current	UINT	EXTGYR1 X-axis current. Formatted value is obtained using the formula: (formatted value) [mA] = RAWVAL*0.01
	200	1	EXTGYR1 X-axis Overcurrent	BOOL	EXTGYR1 X-axis overcurrent
	201	1	EXTGYR1 Y-axis Overcurrent	BOOL	EXTGYR1 X-axis overcurrent
	202	1	EXTGYR1 Z-axis Overcurrent	BOOL	EXTGYR1 X-axis overcurrent
	203	5		PADDING	Reserved.

1.1.1 Configuration Messages

Table 205: List of Configuration Messages

Set ID

Get ID

Name

Description

Length (bytes)

1.1.1 Events

Table 206: List of Events

ID	Name	Description	Class
Info
128	CubeComputer Control Program Started	Control-program on the CubeComputer started up - Table 207	Info
129	Control Mode Changed	Control Mode Changed - Table 208	Info
130	Estimation Mode Changed	Estimation Mode Changed - Table 210	Info
156	Orbit Mode Changed	Orbit Mode Changed - Table 212	Info
133	ADCS Configuration Changed	Commanded change of ADCS configuration - Table 213	Info
135	Open-loop magnetorquer command	Magnetorquer open-loop command received - Table 215	Info
136	Open-loop wheel speed command	Open-loop wheel speed command received - Table 216	Info
137	Open-loop wheel momentum command	Wheel momentum open-loop command received - Table 217	Info
138	New RPY Reference	New roll/pitch/yaw reference command received - Table 218	Info
139	New Ground Target Location Reference	New latitude/longitude/altitude ground target reference command received - Table 219	Info
140	New ECI Target Vector Reference	New ECI target vector reference command received - Table 220	Info
142	Eclipse/sunlight transition	Eclipse/sunlight transition occurred - Table 221	Info
143	Sun above local horizon transition	Sun above/below local horizon transition occurred - Table 222	Info
146	Mag Sensing Element Config Changed	Target sensing element has been changed - Table 223	Info
147	Mag Deploy Commanded	CubeMag has been commanded to deploy - Table 224	Info
148	Mag Deploy Success	CubeMag has been deployed successfully - Table 225	Info
157	File Upload Complete	File upload has completed successfully. - Table 226	Info
158	File Upload Error	File upload failed. - Table 227	Info
159	Node Upgraded - New Firmware Version	Node upgrade has completed successfully with new firmware version. - Table 228	Info
160	Node Upgraded - New System Version	Node upgrade has completed successfully with new system version. - Table 229	Info
254	Reset Commanded	Soft reset has been commanded - Table 230	Info
253	Unix Time Change Commanded	Unix time change has been commanded - Table 231	Info
252	Config Persisted	Volatile config items were written to flash - Table 232	Info
127	Port Validation Result	Result of Port Validation. This event will always be generated following port validation. - Table 233	Info
125	Auto-Discovery Successful	Auto-Discovery completed successfully - Table 234	Info
123	Node Address Changed	The address of the connected node has been changed - Table 235	Info
122	Power state changed	Power state changed - Table 236	Info
121	Power state change commanded	Power state change commanded - Table 237	Info
119	Node Passthrough	Passthrough communication to node - Table 238	Info
WarnMinor
131	Control Mode Change Not Allowed	Commanded control mode change not allowed - Table 239	WarnMinor
132	Estimation Mode Change Not Allowed	Commanded estimation mode change not allowed - Table 241	WarnMinor
153	Gyro Error	A minor error occured relating to gyro operation (see context) - Table 243	WarnMinor
161	Node Upgrade Error	Node upgrade failed. - Table 246	WarnMinor
120	Node Communications Errors	Communication to node failed - Table 247	WarnMinor
WarnMajor
134	ADCS Configuration Validation Error	Commanded change of ADCS configuration - Table 248	WarnMajor
144	Node Setup Error	Node setup failed - Table 250	WarnMajor
145	Node Jump Error	Node jump to app failed - Table 251	WarnMajor
149	Mag Deploy Error	CubeMag deploy error - Table 252	WarnMajor
150	Control Loop Failure	A failure occured relating to control iteration timing (see context) - Table 253	WarnMajor
155	Node Failure	A critical failure occured relating to an ADCS node. - Table 255	WarnMajor
251	Config Persist Error	Error occured while writing config items to flash - Table 256	WarnMajor
250	Virtual Watchdog Warning	A service protected by the virtual watchdog did not check in in time. - Table 257	WarnMajor
126	Port Validation Error	Port Validation failed. This event will only be generated if the previous Auto-Discovery was successful and validation of that setup has now failed - Table 258	WarnMajor
124	Auto-Discovery Error	Auto-Discovery failed and the expected node was not discovered - Table 259	WarnMajor
Critical
151	Control Loop Critical	Consecutive failures occured relating to control iteration timing (see context) - Table 260	Critical
152	Gyro Volatge Error	Gyro supply voltage is outside of operating limits - Table 262	Critical
154	Gyro Critical	A critical failure occured relating to gyro operation (see context) - Table 263	Critical
249	Virtual Watchdog Error	A service protected by the virtual watchdog did not check for three successive warnings. - Table 265	Critical

Table 207: CubeComputer Control Program Started Event Format

ID	128		Class		Info
Description	Control-program on the CubeComputer started up
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Reset Reason	ENUM	Cause of the last reset. Possible values are in Table 92

Table 208: Control Mode Changed Event Format

ID	129		Class		Info
Description	Control Mode Changed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Control mode	ENUM	Control mode. Possible values are in Table 25
	8	16	Magnetic control timeout	UINT	Magnetic control timeout. (Unit of measure is [s])
	24	8	Change Reason	ENUM	Reason for change in control mode. Possible values are in Table 209

Table 209: ConModeChangeReason Enumeration Values

Numeric Value	Name	Description
1	Commanded	Commanded change in control mode
2	Magnetic control timeout	Magnetic control timeout
3	Gyro Error using 3-axis control	Gyro measurement error while using GyroEkf estimator and wheel control

Table 210: Estimation Mode Changed Event Format

ID	130		Class		Info
Description	Estimation Mode Changed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Estimator mode	ENUM	Estimator mode. Possible values are in Table 39
	8	8	Change Reason	ENUM	Reason for change in estimation mode. Possible values are in Table 211
	16	1	Is Main Mode	BOOL	Main (true) or backup (false) estimator mode

Table 211: EstModeChangeReason Enumeration Values

Numeric Value	Name	Description
1	Commanded	Commanded change in estimation mode
2	Gyro error	Gyro measurement error while using GyroEKF or Gyro rate estimator

Table 212: Orbit Mode Changed Event Format

ID	156		Class		Info
Description	Orbit Mode Changed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Orbit mode	ENUM	Orbit mode. Possible values are in Table 16

Table 213: ADCS Configuration Changed Event Format

ID	133		Class		Info
Description	Commanded change of ADCS configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Configuration Change Type	ENUM	Configuration change type. Possible values are in Table 214

Table 214: AdcsConfigChangeType Enumeration Values

Numeric Value	Name	Description
0	Mounting configuration	Mounting configuration
1	Mag0 magnetometer in-orbit calibration configuration	Mag0 magnetometer in-orbit calibration configuration
2	Mag1 magnetometer in-orbit calibration configuration	Mag1 magnetometer in-orbit calibration configuration
3	ADCS controller configuration	ADCS controller configuration
4	ADCS estimator configuration	ADCS estimator configuration
5	ADCS satellite configuration	ADCS satellite configuration
6	Satellite orbit parameter configuration	Satellite orbit parameter configuration
7	Target satellite orbit parameter configuration	Target satellite orbit parameter configuration
8	Node selection configuration	Node selection configuration
9	Wheel configuration	wheel configuration
10	Magnetorquer configuration	Magnetorquer configuration
11	ASGP4 configuration	ASGP4 configuration

Table 215: Open-loop magnetorquer command Event Format

ID	135		Class		Info
Description	Magnetorquer open-loop command received
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	MTQ0 open-loop on-time command	INT	MTQ0 open-loop on-time command. (Unit of measure is [ms])
	16	16	MTQ1 open-loop on-time command	INT	MTQ1 open-loop on-time command. (Unit of measure is [ms])
	32	16	MTQ2 open-loop on-time command	INT	MTQ2 open-loop on-time command. (Unit of measure is [ms])

Table 216: Open-loop wheel speed command Event Format

ID	136		Class		Info
Description	Open-loop wheel speed command received
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	RWL0 open-loop speed command	INT	RWL0 open-loop speed command
	16	16	RWL1 open-loop speed command	INT	RWL1 open-loop speed command
	32	16	RWL2 open-loop speed command	INT	RWL2 open-loop speed command
	48	16	RWL3 open-loop speed command	INT	RWL3 open-loop speed command

Table 217: Open-loop wheel momentum command Event Format

ID	137		Class		Info
Description	Wheel momentum open-loop command received
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	X-momentum open-loop speed command	INT	X-momentum open-loop speed command. Formatted value is obtained using the formula: (formatted value) [Nm] = RAWVAL*0.00001
	16	16	Y-momentum open-loop speed command	INT	Y-momentum open-loop speed command. Formatted value is obtained using the formula: (formatted value) [Nm] = RAWVAL*0.00001
	32	16	Z-momentum open-loop speed command	INT	Z-momentum open-loop speed command. Formatted value is obtained using the formula: (formatted value) [Nm] = RAWVAL*0.00001

Table 218: New RPY Reference Event Format

ID	138		Class		Info
Description	New roll/pitch/yaw reference command received
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	RPY Roll command	INT	RPY Roll command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	16	16	RPY Pitch command	INT	RPY Pitch command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	32	16	RPY Yaw command	INT	RPY Yaw command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01

Table 219: New Ground Target Location Reference Event Format

ID	139		Class		Info
Description	New latitude/longitude/altitude ground target reference command received
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Target latitude command	INT	Target latitude command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	16	16	Target longitude command	INT	Target longitude command. Formatted value is obtained using the formula: (formatted value) [deg] = RAWVAL*0.01
	32	16	Target altitude command	UINT	Target altitude command. (Unit of measure is [km])

Table 220: New ECI Target Vector Reference Event Format

ID	140		Class		Info
Description	New ECI target vector reference command received
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	16	Commanded ECI pointing vector X component	INT	Commanded ECI pointing vector X component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	16	16	Commanded ECI pointing vector Y component	INT	Commanded ECI pointing vector Y component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001
	32	16	Commanded ECI pointing vector Z component	INT	Commanded ECI pointing vector Z component. Formatted value is obtained using the formula: (formatted value) = RAWVAL*0.0001

Table 221: Eclipse/sunlight transition Event Format

ID	142		Class		Info
Description	Eclipse/sunlight transition occurred
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Sunlit	BOOL	Sunlit

Table 222: Sun above local horizon transition Event Format

ID	143		Class		Info
Description	Sun above/below local horizon transition occurred
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Sun Above Horizon	BOOL	Sun above local horizon

Table 223: Mag Sensing Element Config Changed Event Format

ID	146		Class		Info
Description	Target sensing element has been changed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	New Sensing Element	ENUM	The new target sensing element. Possible values are in Table 50

Table 224: Mag Deploy Commanded Event Format

ID	147		Class		Info
Description	CubeMag has been commanded to deploy

Table 225: Mag Deploy Success Event Format

ID	148		Class		Info
Description	CubeMag has been deployed successfully

Table 226: File Upload Complete Event Format

ID	157		Class		Info
Description	File upload has completed successfully.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	File	ENUM	Internal file handle of the uploaded file. Possible values are in Table 55

Table 227: File Upload Error Event Format

ID	158		Class		Info
Description	File upload failed.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	File	ENUM	Internal file handle of the uploaded file. Possible values are in Table 55
	8	32	Error Code	UINT	Operation Error Code. Non-Zero = ERROR
	40	1	File Metadata Error	BOOL	File Metadata received is invalid
	41	1	Version Error	BOOL	File version is incompatible
	42	1	Node Exist Error	BOOL	Target node does not exist
	43	1	Node Expected Error	BOOL	Target node is not expected
	44	1	File CRC Error	BOOL	File CRC Error Flag
	45	1	File Size Error	BOOL	File is too large
	46	1	File Error	BOOL	File Error Flag (open/close)
	47	1	File Invalid Error	BOOL	File Invalid Error Flag
	48	1	File Full Error	BOOL	File Full Error Flag
	49	1	File Empty Error	BOOL	File Empty Error Flag
	50	1	Read Error	BOOL	Read Error Flag
	51	1	Write Error	BOOL	Write Error Flag
	52	1	Erase Error	BOOL	Erase Error Flag
	53	1	Frame Size Error	BOOL	Frame Size Error Flag
	54	1	Timeout Error	BOOL	Timeout Error Flag
	55	1	Node Comms Error	BOOL	Set if node comms failed during upgrade

Table 228: Node Upgraded - New Firmware Version Event Format

ID	159		Class		Info
Description	Node upgrade has completed successfully with new firmware version.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	4	Program	ENUM	The Program Type of the upgrade. Possible values are in Table 57
	4	4	File Type	ENUM	File Type. Possible values are in Table 203
	8	8	Firmware version (Major)	UINT	Firmware version (Major) following upgrade
	16	8	Firmware version (Minor)	UINT	Firmware version (Minor) following upgrade
	24	16	Firmware version (Patch)	UINT	Firmware version (Patch) following upgrade

Table 229: Node Upgraded - New System Version Event Format

ID	160		Class		Info
Description	Node upgrade has completed successfully with new system version.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	4	Program	ENUM	The Program Type of the upgrade. Possible values are in Table 57
	4	4	File Type	ENUM	File Type. Possible values are in Table 203
	8	8	System version (Major)	UINT	System version (Major) following upgrade
	16	8	System version (Minor)	UINT	System version (Minor) following upgrade
	24	16	System version (Patch)	UINT	System version (Patch) following upgrade

Table 230: Reset Commanded Event Format

ID	254		Class		Info
Description	Soft reset has been commanded

Table 231: Unix Time Change Commanded Event Format

ID	253		Class		Info
Description	Unix time change has been commanded
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	New Unix seconds	UINT	New Unix time s. (Unit of measure is [s])
	32	32	New Unix Nanoseconds	UINT	New Unix time ns. (Unit of measure is [ns])

Table 232: Config Persisted Event Format

ID	252		Class		Info
Description	Volatile config items were written to flash

Table 233: Port Validation Result Event Format

ID	127		Class		Info
Description	Result of Port Validation. This event will always be generated following port validation.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Error	BOOL	Set if any error occurred during port validation

Table 234: Auto-Discovery Successful Event Format

ID	125		Class		Info
Description	Auto-Discovery completed successfully

Table 235: Node Address Changed Event Format

ID	123		Class		Info
Description	The address of the connected node has been changed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	New Address	UINT	The new node address

Table 236: Power state changed Event Format

ID	122		Class		Info
Description	Power state changed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	New Power State	BOOL	New power state

Table 237: Power state change commanded Event Format

ID	121		Class		Info
Description	Power state change commanded
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	3	RWL0 power state	ENUM	RWL0 power state. Possible values are in Table 21
	3	3	RWL1 power state	ENUM	RWL1 power state. Possible values are in Table 21
	6	3	RWL2 power state	ENUM	RWL2 power state. Possible values are in Table 21
	9	3	RWL3 power state	ENUM	RWL3 power state. Possible values are in Table 21
	12	3	MAG0 power state	ENUM	MAG0 power state. Possible values are in Table 21
	15	3	MAG1 power state	ENUM	MAG1 power state. Possible values are in Table 21
	18	3	GYR0 power state	ENUM	GYR0 power state. Possible values are in Table 21
	21	3	GYR1 power state	ENUM	GYR1 power state. Possible values are in Table 21
	24	3	FSS0 power state	ENUM	FSS0 power state. Possible values are in Table 21
	27	3	FSS1 power state	ENUM	FSS1 power state. Possible values are in Table 21
	30	3	FSS2 power state	ENUM	FSS2 power state. Possible values are in Table 21
	33	3	FSS3 power state	ENUM	FSS3 power state. Possible values are in Table 21
	36	3	HSS0 power state	ENUM	HSS0 power state. Possible values are in Table 21
	39	3	HSS1 power state	ENUM	HSS1 power state. Possible values are in Table 21
	42	3	STR0 power state	ENUM	STR0 power state. Possible values are in Table 21
	45	3	STR1 power state	ENUM	STR1 power state. Possible values are in Table 21
	48	3	ExtSensor0 power state	ENUM	ExtSensor0 power state. Possible values are in Table 21
	51	3	ExtSensor1 power state	ENUM	ExtSensor1 power state. Possible values are in Table 21
	54	3	EXTGYR0 power state	ENUM	EXTGYR0 power state. Possible values are in Table 21
	57	3	EXTGYR1 power state	ENUM	EXTGYR1 power state. Possible values are in Table 21

Table 238: Node Passthrough Event Format

ID	119		Class		Info
Description	Passthrough communication to node
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Message id	UINT	message id
	8	32	Error Code	UINT	Error code
	40	4	TcTlm Error	ENUM	TcTlm Nack Error. Possible values are in Table 94

Table 239: Control Mode Change Not Allowed Event Format

ID	131		Class		WarnMinor
Description	Commanded control mode change not allowed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Current Control Mode	ENUM	Current control mode. Possible values are in Table 25
	8	8	Commanded Control Mode	ENUM	Commanded control mode. Possible values are in Table 25
	16	8	Reason	ENUM	Reason why control mode change was not allowed. Possible values are in Table 240

Table 240: ConModeNotAllowedReason Enumeration Values

Numeric Value	Name	Description
1	Control/Estimation Combination	Invalid control/estimation combination
2	Actuators Incompatible	Actuators not compatible with mode
3	Initial Conditions	Invalid initial conditions

Table 241: Estimation Mode Change Not Allowed Event Format

ID	132		Class		WarnMinor
Description	Commanded estimation mode change not allowed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Current Estimation Mode	ENUM	Current estimation mode. Possible values are in Table 39
	8	8	Commanded Estimation Mode	ENUM	Commanded estimation mode. Possible values are in Table 39
	16	8	Reason	ENUM	Reason why estimation mode change was not allowed. Possible values are in Table 242
	24	1	Is Main Mode	BOOL	Main (true) or backup (false) estimator mode

Table 242: EstModeNotAllowedReason Enumeration Values

Numeric Value	Name	Description
1	Control/Estimation Combination	Invalid control/estimation combination
2	Sensors Incompatible	Sensors not compatible with mode

Table 243: Gyro Error Event Format

ID	153		Class		WarnMinor
Description	A minor error occured relating to gyro operation (see context)
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Gyro	ENUM	The gyro responsible for the event. Possible values are in Table 244
	1	7	Context	ENUM	Context of the failure. Possible values are in Table 245
	8	32	Error Code	UINT	Error code
	40	8	Failure Count	UINT	Count of the number of consecutive failure for given context

Table 244: GyroSelect Enumeration Values

Numeric Value	Name	Description
0	Primary	Primary Gyro
1	Redundant	Redundant Gyro

Table 245: GyroErrorContext Enumeration Values

Numeric Value	Name	Description
0	Data-Ready timeout	The gyro did not signal data-ready in time
1	Sample Error	Failure to sample the gyro

Table 246: Node Upgrade Error Event Format

ID	161		Class		WarnMinor
Description	Node upgrade failed.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	4	Program	ENUM	The Program Type of the upgrade. Possible values are in Table 57
	4	4	File Type	ENUM	File Type. Possible values are in Table 203
	8	32	Error Code	UINT	Operation Error Code. Non-Zero = ERROR
	40	1	File Metadata Error	BOOL	File Metadata received is invalid
	41	1	Version Error	BOOL	File version is incompatible
	42	1	Node Exist Error	BOOL	Target node does not exist
	43	1	Node Expected Error	BOOL	Target node is not expected
	44	1	File CRC Error	BOOL	File CRC Error Flag
	45	1	File Size Error	BOOL	File is too large
	46	1	File Error	BOOL	File Error Flag (open/close)
	47	1	File Invalid Error	BOOL	File Invalid Error Flag
	48	1	File Full Error	BOOL	File Full Error Flag
	49	1	File Empty Error	BOOL	File Empty Error Flag
	50	1	Read Error	BOOL	Read Error Flag
	51	1	Write Error	BOOL	Write Error Flag
	52	1	Erase Error	BOOL	Erase Error Flag
	53	1	Frame Size Error	BOOL	Frame Size Error Flag
	54	1	Timeout Error	BOOL	Timeout Error Flag
	55	1	Node Comms Error	BOOL	Set if node comms failed during upgrade

Table 247: Node Communications Errors Event Format

ID	120		Class		WarnMinor
Description	Communication to node failed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Failed Message id	UINT	Failed message id
	8	32	Error Code	UINT	Error code
	40	4	TcTlm Error	ENUM	TcTlm Nack Error. Possible values are in Table 94

Table 248: ADCS Configuration Validation Error Event Format

ID	134		Class		WarnMajor
Description	Commanded change of ADCS configuration
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Validation Error	ENUM	Validation error. Possible values are in Table 249

Table 249: AdcsConfigValidationError Enumeration Values

Numeric Value	Name	Description
0	Stack mounting error	Error in stack mounting configuration
1	Magnetorquer mounting error	Error in magnetorquer mounting configuration
2	Wheel mounting configuration not allowed	Wheel mounting configuration not allowed
3	Mag0 sensitivity matrix error	Mag0 sensitivity matrix elements out of range
4	Mag1 sensitivity matrix error	Mag1 sensitivity matrix elements out of range
5	Moments of inertia error	Moments of inertia out of range
6	Products of inertia error	Products of inertia ratio out of range
7	Satellite orbit parameter error	Satellite orbit parameter error
8	Target satellite orbit parameter error	Target satellite orbit parameter error
9	Wheel parameters error	Wheel parameters out of range
10	Magnetorquer parameters error	Magnetorquer parameters out of range

Table 250: Node Setup Error Event Format

ID	144		Class		WarnMajor
Description	Node setup failed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Error Code	UINT	Error code

Table 251: Node Jump Error Event Format

ID	145		Class		WarnMajor
Description	Node jump to app failed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Error Code	UINT	Error code

Table 252: Mag Deploy Error Event Format

ID	149		Class		WarnMajor
Description	CubeMag deploy error
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	32	Error Code	UINT	Error code

Table 253: Control Loop Failure Event Format

ID	150		Class		WarnMajor
Description	A failure occured relating to control iteration timing (see context)
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Context	ENUM	Context of the failure. Possible values are in Table 254
	8	32	Error Code	UINT	Error code
	40	8	Failure Count	UINT	Count of the number of consecutive failure for given context

Table 254: LoopFailureContext Enumeration Values

Numeric Value	Name	Description
0	Loop Sync Timeout Start	Control loop sync timeout at start of configuration of loop period
1	Loop Sync Timeout Runtime	Control loop sync timeout during runtime
2	Loop Overrun	Control loop overrun

Table 255: Node Failure Event Format

ID	155		Class		WarnMajor
Description	A critical failure occured relating to an ADCS node.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	8	32	Error Code	UINT	Error code

Table 256: Config Persist Error Event Format

ID	251		Class		WarnMajor
Description	Error occured while writing config items to flash
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Persist Result	ENUM	Config Persistence Last Result. Possible values are in Table 86
	8	32	Error Code	UINT	Config Persistence Error Code

Table 257: Virtual Watchdog Warning Event Format

ID	250		Class		WarnMajor
Description	A service protected by the virtual watchdog did not check in in time.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	40	Region Mask	ARRAY	Bitmask representing the warning count of each region, if a flag is set, the region that was not refreshed. Please consult with CubeSpace as to the service that uses the specified region

Table 258: Port Validation Error Event Format

ID	126		Class		WarnMajor
Description	Port Validation failed. This event will only be generated if the previous Auto-Discovery was successful and validation of that setup has now failed
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Comms Error	BOOL	Set if the previously discovered node is no longer responding.
	1	1	Node Type Match Error	BOOL	Set if the previously discovered node type no longer matches the node connected to the port.
	2	1	Serial Number Resolve Error	BOOL	Set if the serial number returned by the node could not be resolved to a node type.
	3	1	Serial Number Match Error	BOOL	Set if the previously discovered node serial number no longer matches the node connected to the port.

Table 259: Auto-Discovery Error Event Format

ID	124		Class		WarnMajor
Description	Auto-Discovery failed and the expected node was not discovered
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Node Type	ENUM	Node type identifier of the node that was expected but not discovered. Possible values are in Table 56
	16	32	Serial Number Integer	UINT	Slot 0 - Serial Number Integer of the node that was expected but not discovered

Table 260: Control Loop Critical Event Format

ID	151		Class		Critical
Description	Consecutive failures occured relating to control iteration timing (see context)
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	8	Context	ENUM	Context of the failure. Possible values are in Table 261

Table 261: LoopCriticalContext Enumeration Values

Numeric Value	Name	Description
0	Loop Sync	Control loop critical failure state due to multiple consecutive syncronization timeouts
1	Loop Overrun	Control loop critical failure state due to multiple consecutive overruns

Table 262: Gyro Volatge Error Event Format

ID	152		Class		Critical
Description	Gyro supply voltage is outside of operating limits
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Gyro	ENUM	The gyro responsible for the event. Possible values are in Table 244
	1	1	Is Over Voltage	BOOL	Set if the event was triggered by over voltage. Cleared if the event was triggered by under voltage
	2	6	Reserved	PADDING	Reserved.
	8	16	Supply Voltage	UINT	Supply voltage at the time of the event. (Unit of measure is [mV])

Table 263: Gyro Critical Event Format

ID	154		Class		Critical
Description	A critical failure occured relating to gyro operation (see context)
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	1	Gyro	ENUM	The gyro responsible for the event. Possible values are in Table 244
	1	7	Context	ENUM	Context of the failure. Possible values are in Table 264

Table 264: GyroCriticalContext Enumeration Values

Numeric Value	Name	Description
0	Driver setup failure	Low-level driver setup failed
1	Data ready setup failure	Data ready gpio setup failed
2	Configuration failure	Failed to configure the gyro
3	Comatose	The gyro has experience multiple, consecutive errors (GyroErrorContext) and is presumed unusable

Table 265: Virtual Watchdog Error Event Format

ID	249		Class		Critical
Description	A service protected by the virtual watchdog did not check for three successive warnings.
Parameters	Offset (bits)	Length (bits)	Name	Data Type	Description
	0	40	Region Mask	ARRAY	Bitmask representing the warning count of each region, if a flag is set, the region that was not refreshed repeatedly and is presumed dead. Please consult with CubeSpace as to the service that uses the specified region

1.1.1 Logging

Table 266: Loggable Telemetry Frames

Mask	Telemetry ID	Telemetry Frame
01 00 00 00 00 00 00 00 00 00	166	Health telemetry for CubeNode PST3S
02 00 00 00 00 00 00 00 00 00	167	Health telemetry for CubeMag magnetometer
04 00 00 00 00 00 00 00 00 00	168	Health telemetry for CubeSense Sun
08 00 00 00 00 00 00 00 00 00	169	Torquer Current measurements
10 00 00 00 00 00 00 00 00 00	170	Raw CubeSense Sun telemetry
20 00 00 00 00 00 00 00 00 00	171	Raw external sensor telemetry
40 00 00 00 00 00 00 00 00 00	172	Controller telemetry
80 00 00 00 00 00 00 00 00 00	173	Backup estimator telemetry
00 01 00 00 00 00 00 00 00 00	174	Models telemetry
00 02 00 00 00 00 00 00 00 00	175	Calibrated GNSS sensor telemetry
00 04 00 00 00 00 00 00 00 00	176	Calibrated HSS sensor telemetry
00 08 00 00 00 00 00 00 00 00	177	Calibrated MAG sensor telemetry
00 10 00 00 00 00 00 00 00 00	178	Calibrated FSS sensor telemetry
00 20 00 00 00 00 00 00 00 00	179	Raw CubeSense Earth telemetry
00 40 00 00 00 00 00 00 00 00	180	Raw MAG sensor telemetry
00 80 00 00 00 00 00 00 00 00	203	Raw CSS sensor telemetry
00 00 01 00 00 00 00 00 00 00	204	Raw GYR sensor telemetry
00 00 02 00 00 00 00 00 00 00	205	Raw RWL sensor telemetry
00 00 04 00 00 00 00 00 00 00	206	Calibrated CSS sensor telemetry
00 00 08 00 00 00 00 00 00 00	207	Calibrated GYR sensor telemetry
00 00 10 00 00 00 00 00 00 00	208	Calibrated STR sensor telemetry
00 00 20 00 00 00 00 00 00 00	209	Calibrated RWL sensor telemetry
00 00 40 00 00 00 00 00 00 00	210	Main estimator telemetry
00 00 80 00 00 00 00 00 00 00	211	Main estimator high-resolution telemetry
00 00 00 01 00 00 00 00 00 00	212	Raw GNSS sensor telemetry
00 00 00 02 00 00 00 00 00 00	213	Raw PST3S star tracker telemetry
00 00 00 04 00 00 00 00 00 00	214	ACP execution telemetry
00 00 00 08 00 00 00 00 00 00	216	CubeComputer Health
00 00 00 10 00 00 00 00 00 00	217	Health telemetry for CubeSense Earth
00 00 00 20 00 00 00 00 00 00	218	Health telemetry for Reaction Wheels
00 00 00 40 00 00 00 00 00 00	225	Health telemetry for CubeNode NSSRWL
00 00 00 80 00 00 00 00 00 00	226	Raw NSSRWL sensor telemetry
00 00 00 00 01 00 00 00 00 00	165	Health telemetry for CubeStar
00 00 00 00 02 00 00 00 00 00	160	Raw CubeStar telemetry
00 00 00 00 04 00 00 00 00 00	236	RAW LITEF uFORS sensor telemetry